Laser cleaning device with deflection feedforward compensation function
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-03
- Publication Date
- 2026-08-14
AI Technical Summary
[0004]然而，当悬臂轴向行程达到3.2m-8m超长工况时，仅依靠机械加固无法完全消除动态挠度变形，由于悬臂伸缩、启停过程中会持续产生下垂偏移，改变激光头与壳体内壁的实际工作距离，造成激光严重离焦；离焦后激光能量分散，出现除锈不干净、表面粗糙度不均匀、局部漏加工等缺陷
[0016]与现有技术相比，本发明的有益效果是：本发明的一种具有挠度前馈补偿功能的激光清洗装置，驱动机构驱动悬臂带着安装支架、激光头、测距仪伸入壳体内腔，激光发生器、红外测温仪、安全联锁模块同步进入待命监测状态。 长悬臂自重会产生下垂挠度，改变反射镜与壳体内壁间距，引发激光离焦。安装支架上的测距仪以反射镜为基准，实时采集反射镜至加工面的距离并传输至控制系统；系统对比实测距离与预设标准基准距离，计算出挠度带来的距离偏差，调取匹配焦距参数驱动聚焦调整模块切换、微调焦距，抵消离焦偏差，让激光焦点稳定贴合壳体内壁。 激光发生器输出光束进入激光头光路，经聚焦调整模块完成焦距补偿后送入二维振镜，振镜依靠高速电机偏转镜片控制光斑平面扫描；光束再经场镜匀化整形，由反射镜转向投射至壳体内壁，激光可清除内壁氧化皮、锈迹并加工均匀粗糙面。通过依托测距仪完成挠度距离前馈采集，通过控制系统运算匹配适配焦距，驱动聚焦调整模块实现光路动态调焦补偿，从而在对工件表面进行激光加工的过程中，能在无需加粗、加固悬臂结构的前提下，抵消悬臂的挠度带来的加工误差，保证工件表面加工的质量，补偿响应速度快、调节精度高。
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Figure CN122558892A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of laser processing technology, and specifically to a laser cleaning device with deflection feedforward compensation function. Background Technology
[0002] With the continuous growth in demand for processing large metal shell workpieces in the aerospace and special equipment fields, the inner wall of the metal shell needs to be de-scaled and rusted and processed to a specified roughness. Traditional sandblasting process has high dust pollution and poor processing consistency. Laser cleaning and roughening process has gradually become an alternative solution due to its advantages of environmental protection and controllable precision. It can achieve non-destructive impurity removal and uniform roughening treatment of the inner wall of the shell, and meet the stringent requirements of Sa2.5 cleanliness and Rz30μm-70μm roughness index for subsequent bonding, spraying and other processes.
[0003] The existing long cantilever internal cavity laser cleaning device mainly consists of a moving cantilever, a laser generating unit, and a feeding mechanism. It relies on the extended cantilever to extend into the deep cavity metal shell and complete the internal wall cleaning operation through laser scanning. It uses thickened profiles and added support seats to mechanically offset the deflection deformation caused by the cantilever's own weight, and works in conjunction with a fixed focal length laser head to complete the processing.
[0004] However, when the cantilever's axial travel reaches ultra-long conditions of 3.2m-8m, mechanical reinforcement alone cannot completely eliminate dynamic deflection. During cantilever extension, retraction, and start-up / stop, continuous downward displacement occurs, altering the actual working distance between the laser head and the inner wall of the housing, causing severe laser defocusing. Defocusing leads to dispersed laser energy, resulting in defects such as incomplete rust removal, uneven surface roughness, and localized missed machining. Simply increasing the cantilever's rigidity would significantly increase equipment weight and manufacturing costs, and would not be compatible with the machining of complex curved surfaces such as housing heads and enclosures. Furthermore, conventional equipment lacks real-time distance feedforward compensation logic, only able to correct machining defects post-processing. Online detection and multiple safety protection features are insufficient, making it difficult to meet the industrial production demands for high-precision, fully automated continuous machining of large, deep housing inner walls. Summary of the Invention
[0005] The purpose of this invention is to overcome the problems in the prior art and provide a laser cleaning device with deflection feedforward compensation function. During the laser processing of the workpiece surface, it can offset the processing error caused by the deflection of the cantilever without thickening or reinforcing the cantilever structure, thus ensuring the quality of the workpiece surface processing.
[0006] This invention provides a laser cleaning device with deflection feedforward compensation function, comprising: The drive mechanism has a cantilever connected to its output end; A laser head is connected to the cantilever via a mounting bracket. The laser head includes a focusing adjustment module, a two-dimensional galvanometer, a field lens, and a reflector. The focusing adjustment module is connected to a laser generator via an optical fiber and is used to switch and adjust the laser focal length. The two-dimensional galvanometer is optically connected to the focusing adjustment module and is used to control the movement and positioning of the laser spot. The field lens is optically connected to the two-dimensional galvanometer and is used to focus the laser. The reflector is optically connected to the field lens and is used to reflect the focused laser onto the working surface. A rangefinder, connected to a mounting bracket, measures in real time the distance between the reflector of the laser head and the inner wall processing area of the housing to be cleaned; The control system is electrically connected to the rangefinder and the focus adjustment module. The control system has a preset standard reference working distance from the reflector to the inner wall of the housing. The control system calculates the real-time distance deviation value based on the real-time distance and the preset reference working distance. The controller has preset focal lengths that are adapted to different distance deviation values. Then, the control module controls the operation of the focus adjustment module according to the focal length adapted to the real-time distance deviation value to switch the adapted focal length.
[0007] Preferably, a collimation isolation head is provided between the focusing adjustment module and the laser generator. The collimation isolation head is used to convert the divergent laser beam output by the laser generator into a parallel beam and to isolate the laser reflected back from the inner wall of the workpiece.
[0008] Preferably, the reflector is provided with a protective mirror for protecting the reflector. A wind knife is provided on one side of the protective mirror for continuously spraying protective airflow to blow away dust and slag adhering to the outer surface of the protective mirror and the rangefinder in real time.
[0009] Preferably, the drive mechanism includes a support bracket, a lifting mechanism, and a carriage mechanism. The cantilever is attached to the support bracket. The lifting mechanism is connected to the end of the cantilever away from the mounting bracket. The lifting mechanism is used to adjust the height of the mounting bracket. The lifting mechanism is mounted on the carriage mechanism. The carriage mechanism is slidably connected to the support bracket. The carriage mechanism is used to drive the mounting bracket to move along the length direction of the cantilever.
[0010] Preferably, a swing mechanism is provided between the cantilever and the mounting bracket, the swing mechanism being used to drive the mounting bracket to swing, thereby driving the laser head to swing.
[0011] Preferably, the cantilever is equipped with an ultrasonic obstacle avoidance sensor, which is connected to the safety interlock module of the control system. When the ultrasonic obstacle avoidance sensor detects that the distance between the cantilever and the inner wall of the metal shell is less than the preset safety threshold in the control system, the safety interlock module of the control system triggers an audible and visual alarm and simultaneously controls the laser generator to shut down and the carriage mechanism and lifting mechanism to stop moving.
[0012] Preferably, the mounting bracket is equipped with a quality discrimination system, which includes a vision camera, a roughness detector, a data analysis module, and a data storage module. The roughness detector is used to detect the surface roughness of the inner wall of the workpiece. The vision camera is used to acquire images of the inner wall of the workpiece through multiple light sources. The vision camera is electrically connected to an image algorithm, which is used to identify surface defects on the inner wall of the workpiece. The data storage module is used to store the acceptable range of roughness and surface defects of the workpiece. The data analysis module is electrically connected to the roughness detector, the image algorithm, and the data storage module, and is used to determine whether the roughness and surface defects of the inner wall of the workpiece are within the acceptable range.
[0013] Preferably, the protective mirror is provided with a sealing ring and a sealing gasket, which are used to isolate the micro dust generated during processing and protect the internal optical components and galvanometer assembly inside the laser head.
[0014] Preferably, the mounting bracket is provided with a protective box, and the protective box is provided with a telescopic mechanism. The telescopic mechanism is connected to the vision camera and the roughness detector, and the telescopic mechanism can drive the vision camera and the roughness detector to retract into the protective box.
[0015] Preferably, the laser generator can emit red light, and the laser generator simulates the processing trajectory of a laser by emitting red light.
[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: This invention provides a laser cleaning device with deflection feedforward compensation function. A drive mechanism drives a cantilever carrying a mounting bracket, laser head, and rangefinder into the inner cavity of the housing. Simultaneously, the laser generator, infrared thermometer, and safety interlock module enter a standby monitoring state. The weight of the long cantilever generates downward deflection, changing the distance between the reflector and the inner wall of the housing, causing laser defocusing. The rangefinder on the mounting bracket uses the reflector as a reference to collect the distance from the reflector to the processing surface in real time and transmits it to the control system. The system compares the measured distance with the preset standard reference distance, calculates the distance deviation caused by the deflection, retrieves the matching focal length parameters, drives the focus adjustment module to switch and fine-tune the focal length, offsetting the defocusing deviation and ensuring the laser focus stably adheres to the inner wall of the housing. The laser beam output from the laser generator enters the laser head's optical path, undergoes focal length compensation by the focus adjustment module, and is then sent to a two-dimensional galvanometer. The galvanometer relies on a high-speed motor to deflect the lens, controlling the scanning of the light spot plane. The beam is then homogenized and shaped by a field lens, and projected onto the inner wall of the housing by the reflector. The laser can remove oxide scale and rust from the inner wall and process a uniformly rough surface. By relying on a rangefinder to collect deflection distance feedforward, and by using a control system to calculate and match the appropriate focal length, the focusing adjustment module is driven to achieve dynamic focusing compensation of the optical path. Thus, during the laser processing of the workpiece surface, the processing error caused by the deflection of the cantilever can be offset without thickening or reinforcing the cantilever structure, ensuring the quality of the workpiece surface processing. The compensation response speed is fast and the adjustment accuracy is high. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the swing mechanism; Figure 3 This is a schematic diagram of the structure of the laser head of the present invention; Figure 4 This is a schematic diagram of the optical path principle of the laser head of the present invention; Figure 5 This is a schematic diagram of the structure of the sealing ring of the present invention.
[0018] Explanation of reference numerals in the attached figures: 101. Drive mechanism; 102. Cantilever; 103. Mounting bracket; 104. Focusing adjustment module; 105. Two-dimensional galvanometer; 106. Field lens; 107. Reflector; 108. Rangefinder; 201. Support bracket; 202. Lifting mechanism; 203. Carriage mechanism; 3. Collimation isolation head; 4. Swinging mechanism; 501. Protective lens; 502. Air knife; 701. Vision camera; 702. Roughness tester; 801. Sealing ring; 802. Sealing gasket; 901. Protective box; 902. Telescopic mechanism. Detailed Implementation
[0019] The following is in conjunction with the appendix Figures 1-5 The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0020] like Figures 1-5 As shown, the present invention provides a laser cleaning device with deflection feedforward compensation function, comprising: a drive mechanism, a laser head, a rangefinder 108, and a control system. The output end of the drive mechanism is connected to a cantilever. The laser head is connected to the cantilever 102 via a mounting bracket 103. The laser head includes a focusing adjustment module 104, a two-dimensional galvanometer 105, a field lens 106, and a reflector 107. The focusing adjustment module 104 is connected to a laser generator via an optical fiber and is used to switch and adjust the laser focal length. The two-dimensional galvanometer 105 is optically connected to the focusing adjustment module 104 and is used to control the movement and positioning of the laser spot. The field lens 106 is optically connected to the two-dimensional galvanometer 105 and is used to reflect the laser beam. The laser is focused, with the reflector 107 and field lens 106 connected in the optical path. The reflector 107 is used to reflect the focused laser onto the working surface. The rangefinder 108 is connected to the mounting bracket 103 and measures the real-time distance between the laser head's reflector 107 and the inner wall processing area of the housing to be cleaned. The control system is electrically connected to the rangefinder 108 and the focus adjustment module 104. The control system presets a standard reference working distance from the reflector 107 to the inner wall of the housing. The control system calculates the real-time distance deviation value based on the real-time distance and the preset reference working distance. The controller presets focal lengths that are adapted to different distance deviation values, and then controls the focus adjustment module 104 to switch the adapted focal length based on the focal length adapted to the real-time distance deviation value.
[0021] The working principle of the above embodiments is briefly described below: Before operation, the metal housing is clamped and positioned. The operator enters the housing model into the control system, and the system retrieves the corresponding processing parameters. After the equipment is started, the drive mechanism 101 receives the motion command from the control system and drives the cantilever 102 to move smoothly along the axial direction of the inner cavity of the metal housing. The mounting bracket 103 at the end of the cantilever 102 simultaneously carries the laser head and rangefinder 108 into the housing. The laser generator is powered on and put into standby mode, and the infrared thermometer starts temperature monitoring simultaneously. The entire machine control link and safety interlock module enter real-time working state.
[0022] The cantilever 102 is a long-stroke telescopic structure. Its own weight causes sagging and deflection, directly altering the distance between the reflector 107 and the machining area on the inner wall of the housing. This causes the laser focus to deviate from the workpiece surface, resulting in defocusing defects. The rangefinder 108, mounted on the mounting bracket 103, continuously collects the real-time distance from the end face of the reflector 107 to the machining area on the inner wall of the housing, using the laser head reflector 107 as the measurement reference. This distance data is then transmitted to the control system in real time. The control system retrieves the internally stored standard reference working distance between the reflector 107 and the inner wall of the housing under the current operating conditions. It then calculates the difference between the real-time distance and the standard reference working distance to determine the real-time distance deviation caused by the deflection of the cantilever 102. The control system has preset different distance deviation values and matching focal length parameters. The system retrieves the corresponding matching focal length based on the calculated real-time distance deviation value and sends a drive control signal to the focus adjustment module 104. The focus adjustment module 104 automatically switches between long and short focal length lenses and makes slight adjustments to the focal length along the optical path axis to offset the laser defocus caused by the deflection deformation of the cantilever 102. This ensures that the laser focus always falls stably on the processing area of the inner wall of the housing, guaranteeing a constant focusing effect of the processing spot.
[0023] The raw laser beam output from the laser generator is transmitted to the internal optical path of the laser head. The beam first passes through the focusing adjustment module 104, which has completed focal length compensation adjustment. The compensated beam then enters the two-dimensional galvanometer 105. Inside the two-dimensional galvanometer 105, two sets of high-speed small motors continuously drive the lens to deflect at high speed, precisely controlling the movement and positioning of the laser spot in the plane, realizing large-area scanning processing of the inner wall of the housing. The beam continues to be transmitted to the field lens 106, which performs planar shaping and focusing of the beam to ensure that the laser spot size is uniform and distortion-free throughout the entire processing area of the housing. The shaped and focused beam is transmitted to the reflector 107, which deflects the beam transmission direction, projecting the precisely focused laser vertically onto the processing surface of the inner wall of the housing. The laser energy removes the oxide layer, rust layer, and a small amount of residual oil from the inner wall of the housing, while simultaneously processing a uniform and controllable rough surface. During the entire laser processing process, a non-contact infrared thermometer can be installed at the laser head to continuously collect the surface temperature of the shell processing area and upload the temperature data to the control system in real time for judgment. If the surface temperature of the workpiece exceeds the preset safety threshold, the control system will immediately trigger the safety interlock mechanism, simultaneously cut off the light output of the laser generator, lock all feed actions of the drive mechanism 101, and immediately terminate the processing process to avoid high temperature burning of the shell and scrapping of the workpiece.
[0024] The laser cleaning device of the present invention with deflection feedforward compensation function relies on the rangefinder 108 to complete the deflection distance feedforward acquisition, and the control system calculates and matches the appropriate focal length to drive the focus adjustment module 104 to achieve dynamic focusing compensation of the optical path. It does not require thickening or reinforcing the cantilever 102 structure to passively offset the deflection, and the compensation response speed is fast and the adjustment accuracy is high. At the same time, it is equipped with a two-dimensional galvanometer 105 for full-domain scanning and infrared temperature measurement safety interlock, which can stably complete the fully automatic laser cleaning and texturing operation of the inner wall of the metal shell under the condition of ultra-long cantilever 102.
[0025] Based on the above embodiments, in order to reduce beam distortion during the focus adjustment process and make the deflection compensation effect of the focus adjustment module 104 more stable.
[0026] like Figure 4 As shown, a collimation isolation head 3 is provided between the focusing adjustment module 104 and the laser generator. The collimation isolation head 3 is used to convert the diverging laser beam output by the laser generator into a parallel beam and isolate the laser reflected back from the inner wall of the workpiece.
[0027] A collimating isolation head 3 is superimposed at the front end of the laser optical path, and the collimating isolation head 3 is arranged between the laser generator and the focusing adjustment module 104. After the laser generator outputs the divergent original beam, it first passes through the collimating isolation head 3, which converts the divergent laser into a parallel beam and sends it into the focusing adjustment module 104. The parallel light can significantly reduce beam distortion during the focus adjustment process, making the deflection compensation effect of the focusing adjustment module 104 more stable. At the same time, the collimating isolation head 3 isolates the laser reflected back from the workpiece, preventing the reflected light from impacting the internal optical components of the laser generator, ensuring that the laser generator continuously and stably outputs a light source, providing a stable beam input for optical path deflection compensation, and ensuring the continuous and reliable operation of the entire feedforward compensation system.
[0028] As a preferred option, such as Figures 2-4As shown, the reflector 107 is equipped with a protective mirror 501, which protects the reflector 107. An air knife 502 is located on one side of the protective mirror 501, continuously spraying protective airflow to clean dust and slag adhering to the outer surface of the protective mirror 501 and the rangefinder 108. By adding the protective mirror 501 and simultaneously using the air knife 502 to continuously spray protective airflow, the metal dust and slag generated during processing can contaminate the optical path and the rangefinder 108. The protective mirror 501 prevents splashed debris from directly contacting the reflector 107, avoiding damage to the optical surface of the reflector 107. The air knife 502 continuously cleans the outer surface of the protective mirror 501 and the detection window of the rangefinder 108, promptly removing adhering dust. This maintains the light transmission performance of the protective mirror 501, ensuring stable laser light path transmission and allowing the deflection compensation of the focusing adjustment module 104 to function accurately. On the other hand, it avoids dust from obstructing the optical path of the rangefinder 108, ensuring that the distance data collected by the rangefinder 108 is true and accurate, and ensuring that the original input signal for deflection feedforward compensation is error-free.
[0029] As a preferred option, such as Figure 1 As shown, the drive mechanism 101 includes a support bracket 201, a lifting mechanism 202, and a slide mechanism 203. The cantilever 102 is attached to the support bracket 201. The lifting mechanism 202 is connected to the end of the cantilever 102 away from the mounting bracket 103. The lifting mechanism 202 is used to adjust the height of the mounting bracket 103. The lifting mechanism 202 is mounted on the slide mechanism 203. The slide mechanism 203 is slidably connected to the support bracket 201. The slide mechanism 203 is used to drive the mounting bracket 103 to move along the length direction of the cantilever 102. The drive mechanism 101 consists of a support bracket 201, a lifting mechanism 202, and a carriage mechanism 203. The cantilever 102 is attached to the support bracket 201. The carriage mechanism 203 uses a gear and rack combined with a servo motor drive, with an axial travel range of 3200mm-8000mm and a motion positioning accuracy of ≤±0.1mm. It can accurately drive the cantilever 102 to feed along its length. The lifting mechanism 202 is mounted on the carriage mechanism 203 and uses a linear guide rail and precision screw structure. The lifting on both sides operates synchronously, accurately adjusting the height of the mounting bracket 103 at the end of the cantilever 102. The cantilever 102 is made of thickened profile and is equipped with front and rear auxiliary support devices. This reduces the sag deflection caused by the weight of the cantilever 102 from a physical perspective, reduces the distance deviation amplitude collected by the rangefinder 108, and reduces the load on the optical path compensation adjustment of the focus adjustment module 104. A flatness detection sensor is arranged on the cantilever 102 to collect the deformation data of the cantilever 102 in real time and upload it to the control system. This helps the control system to correct the focus compensation parameters, further improve the accuracy of deflection feedforward compensation, and better ensure the stability of the laser focus.
[0030] As a preferred option, such as Figure 1 and Figure 2 As shown, a swing mechanism 4 is provided between the cantilever 102 and the mounting bracket 103. The swing mechanism 4 is used to drive the mounting bracket 103 to swing, thereby driving the laser head to swing. The addition of the swing mechanism 4 between the cantilever 102 and the mounting bracket 103 serves as a supplement to the basic two-dimensional planar scanning scheme. The swing mechanism 4 can drive the mounting bracket 103 and the laser head to swing at a large angle, adjusting the overall laser emission orientation. In coordination with the dynamic focal length compensation of the focusing adjustment module 104 and the planar scanning of the two-dimensional galvanometer 105, when processing complex irregularly shaped areas such as the cylindrical surface of the shell-like workpiece, the inverse curved surface of the elliptical front end, and vertical surfaces, the swing mechanism 4 adjusts the laser head angle, simultaneously coordinating with optical path deflection compensation to eliminate dead angles in the processing of complex internal cavities, maintaining the laser focus in contact with the curved inner wall of the workpiece throughout the process, and ensuring uniform deflection compensation effect across the entire area.
[0031] As a preferred embodiment, the cantilever 102 is equipped with an ultrasonic obstacle avoidance sensor, which is connected to the safety interlock module of the control system. When the ultrasonic obstacle avoidance sensor detects that the distance between the cantilever 102 and the inner wall of the metal shell is less than a preset safety threshold in the control system, the safety interlock module of the control system triggers an audible and visual alarm and simultaneously controls the laser generator to shut down and the sliding mechanism 203 and lifting mechanism 202 to stop moving. The ultrasonic obstacle avoidance sensor is arranged on the cantilever 102, along with a collision avoidance strip on the outer side of the cantilever 102. The sensor is linked to the safety interlock module of the control system. The ultrasonic sensor detects the distance between the cantilever 102, the laser head, and the inner wall of the shell in real time. When the distance is lower than the preset safety threshold, the safety interlock module immediately triggers an audible and visual alarm, simultaneously shuts down the laser generator, and locks the sliding mechanism 203 and lifting mechanism 202. The collision avoidance strip physically buffers accidental contact, preventing equipment collisions that scratch the shell, damage the laser head's optical components, and avoid damage to the optical path and ranging hardware that could cause the deflection compensation function to fail, thus comprehensively ensuring the stable operation of the deflection feedforward compensation processing process.
[0032] As a preferred option, such as Figure 2As shown, the mounting bracket 103 is equipped with a quality discrimination system, which includes a vision camera 701, a roughness detector 702, a data analysis module, and a data storage module. The roughness detector 702 is used to detect the surface roughness of the inner wall of the workpiece. The vision camera 701 is used to acquire images of the inner wall of the workpiece using multiple light sources. The vision camera 701 is electrically connected to an image algorithm, which is used to identify surface defects on the inner wall of the workpiece. The data storage module is used to store the acceptable range of roughness and surface defects of the workpiece. The data analysis module is electrically connected to the roughness detector 702, the image algorithm, and the data storage module, and is used to determine whether the roughness and surface defects of the inner wall of the workpiece are within the acceptable range. By integrating the quality discrimination system on the mounting bracket 103, after processing, the cantilever 102 feeding mechanism drives the detection components to each detection point, eliminating the need for secondary workpiece transfer. The roughness detector 702 acquires the surface roughness values of the inner wall of the housing, and the vision camera 701, combined with multiple light sources, acquires high-definition images of the inner wall. The image algorithm identifies defect parameters such as grayscale and rust area. The data analysis module compares the measured roughness and defect parameters with the pre-stored acceptable range in the data storage module to automatically determine whether the workpiece meets the standards. If the inspection determines that it is unqualified, the system records the defect location. The operator can adjust the laser processing parameters based on the inspection data, optimize the deflection compensation processing parameters, and improve the quality of subsequent workpiece cleaning and roughening, forming a closed loop of "deflection compensation processing, online quality inspection, and process optimization" to ensure the long-term consistency of the equipment's processing.
[0033] As a preferred option, such as Figure 5 As shown, the protective mirror 501 is equipped with a sealing ring 801 and a sealing gasket 802. The sealing ring 801 and the sealing gasket 802 are used to isolate the micro dust generated during processing, protecting the internal optical components and galvanometer assembly inside the laser head. The addition of the sealing ring 801 and the sealing gasket 802 at the protective mirror 501 forms a fully sealed optical path front-end structure. Fine dust generated during processing can easily penetrate into the laser head and contaminate optical components such as the two-dimensional galvanometer 105 and the field mirror 106, causing optical path loss and a decrease in compensation accuracy. The sealing ring 801 and the sealing gasket 802 prevent dust from entering the laser head cavity, continuously protecting the internal optical components and galvanometer, avoiding optical component damage that could lead to focal length compensation and scanning function failure, and maintaining the optical path accuracy of the deflection feedforward compensation system over a long period.
[0034] As a preferred option, such as Figure 2As shown, the mounting bracket 103 is equipped with a protective box 901, and the protective box 901 contains a telescopic mechanism 902. The telescopic mechanism 902 is connected to the vision camera 701 and the roughness detector 702, and can drive the vision camera 701 and the roughness detector 702 to retract into the protective box 901. The protective box 901 on the mounting bracket 103, with the telescopic mechanism 902 connecting the vision camera 701 and the roughness detector 702, retracts the detection components into the protective box 901 during processing, isolating them from processing dust and splashes, preventing contamination of the camera lens and roughness detection probe, and preventing data distortion from affecting process optimization. The probe only extends during the inspection process, ensuring the long-term stable operation of the quality judgment system and continuously providing accurate detection data support for the deflection compensation process iteration.
[0035] As a preferred embodiment, the laser generator emits red light to simulate the laser's processing trajectory. The laser generator can output red light along the same optical path to perform trajectory verification before formal processing begins. The control system issues a preset processing trajectory, and the red light simulates the dynamic operation of the laser processing path. This allows for a clear visualization of the cantilever 102's feed, the swing mechanism 4's swing, and the complete laser scanning motion trajectory without needing to activate a high-power laser. Operators can proactively check for trajectory collisions and blind spots in curved surface processing, correct equipment motion parameters in advance, reduce abnormal conditions during deflection compensation and scanning processing in formal processing, and improve the first-pass yield rate of deflection feedforward compensation processing.
[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention.
Claims
1. A laser cleaning device with deflection feedforward compensation function, characterized in that, include: The drive mechanism has a cantilever connected to its output end; A laser head is connected to the cantilever via a mounting bracket. The laser head includes a focusing adjustment module, a two-dimensional galvanometer, a field lens, and a reflector. The focusing adjustment module is connected to a laser generator via an optical fiber and is used to switch and adjust the laser focal length. The two-dimensional galvanometer is optically connected to the focusing adjustment module and is used to control the movement and positioning of the laser spot. The field lens is optically connected to the two-dimensional galvanometer and is used to focus the laser. The reflector is optically connected to the field lens and is used to reflect the focused laser onto the working surface. A rangefinder, connected to a mounting bracket, measures in real time the distance between the reflector of the laser head and the inner wall processing area of the housing to be cleaned; The control system is electrically connected to the rangefinder and the focus adjustment module. The control system has a preset standard reference working distance from the reflector to the inner wall of the housing. The control system calculates the real-time distance deviation value based on the real-time distance and the preset reference working distance. The controller has preset focal lengths that are adapted to different distance deviation values. Then, the control module controls the operation of the focus adjustment module according to the focal length adapted to the real-time distance deviation value to switch the adapted focal length.
2. The laser cleaning device with deflection feedforward compensation function as described in claim 1, characterized in that, A collimation isolation head is provided between the focusing adjustment module and the laser generator. The collimation isolation head is used to convert the diverging laser beam output by the laser generator into a parallel beam and to isolate the laser reflected back from the inner wall of the workpiece.
3. The laser cleaning device with deflection feedforward compensation function as described in claim 2, characterized in that, The reflector is equipped with a protective mirror for protecting the reflector. A wind knife is provided on one side of the protective mirror for continuously spraying protective airflow to blow away dust and slag adhering to the outer surface of the protective mirror and the rangefinder in real time.
4. The laser cleaning device with deflection feedforward compensation function as described in claim 1, characterized in that, The drive mechanism includes a support bracket, a lifting mechanism, and a slide mechanism. The cantilever is attached to the support bracket. The lifting mechanism is connected to the end of the cantilever away from the mounting bracket. The lifting mechanism is used to adjust the height of the mounting bracket. The lifting mechanism is mounted on the slide mechanism. The slide mechanism is slidably connected to the support bracket. The slide mechanism is used to drive the mounting bracket to move along the length direction of the cantilever.
5. The laser cleaning device with deflection feedforward compensation function as described in claim 4, characterized in that, A swing mechanism is provided between the cantilever and the mounting bracket. The swing mechanism is used to drive the mounting bracket to swing, thereby driving the laser head to swing.
6. The laser cleaning device with deflection feedforward compensation function as described in claim 4, characterized in that, The cantilever is equipped with an ultrasonic obstacle avoidance sensor, which is connected to the safety interlock module of the control system. When the ultrasonic obstacle avoidance sensor detects that the distance between the cantilever and the inner wall of the metal shell is less than the preset safety threshold in the control system, the safety interlock module of the control system triggers an audible and visual alarm and simultaneously controls the laser generator to shut down and the carriage mechanism and lifting mechanism to stop moving.
7. The laser cleaning device with deflection feedforward compensation function as described in claim 1, characterized in that, The mounting bracket is equipped with a quality discrimination system, which includes a vision camera, a roughness detector, a data analysis module, and a data storage module. The roughness detector is used to detect the surface roughness of the inner wall of the workpiece. The vision camera is used to acquire images of the inner wall of the workpiece through multiple light sources. The vision camera is electrically connected to an image algorithm, which is used to identify surface defects on the inner wall of the workpiece. The data storage module is used to store the acceptable range of roughness and surface defects of the workpiece. The data analysis module is electrically connected to the roughness detector, the image algorithm, and the data storage module, and is used to determine whether the roughness and surface defects of the inner wall of the workpiece are within the acceptable range.
8. The laser cleaning device with deflection feedforward compensation function as described in claim 5, characterized in that, The protective mirror is equipped with a sealing ring and a sealing gasket, which are used to isolate the micro dust generated during processing and protect the internal optical components and galvanometer assembly inside the laser head.
9. The laser cleaning device with deflection feedforward compensation function as described in claim 7, characterized in that, The mounting bracket is equipped with a protective box, and the protective box contains a telescopic mechanism. The telescopic mechanism is connected to the vision camera and the roughness detector, and the telescopic mechanism can drive the vision camera and the roughness detector to retract into the protective box.
10. The laser cleaning device with deflection feedforward compensation function as described in claim 1, characterized in that, The laser generator can emit red light, and the laser generator simulates the processing trajectory of a laser by emitting red light.