A laser cleaning apparatus and method

Abstract

The application relates to the technical field of cleaning devices, in particular to a laser cleaning device and method, the laser cleaning device comprising a placing unit, a first mechanical arm, a scanning unit, a second mechanical arm and a cleaning unit, the placing unit being used for carrying a workpiece to be cleaned, the first mechanical arm being arranged on one side of the placing unit, the scanning unit being connected with a mounting surface of the first mechanical arm and being used for scanning and identifying the workpiece to be cleaned, the second mechanical arm being arranged on one side of the placing unit, and the cleaning unit being arranged on a mounting surface of the second mechanical arm and being used for cleaning the workpiece to be cleaned according to the scanning and identifying result. The cleaning mode based on the scanning and identifying result enables the laser cleaning head to flexibly adjust the position and angle according to the complex structure of the workpiece surface, so that all areas of the workpiece can be effectively covered and penetrated.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a laser cleaning device and method. Background Technology

[0002] In industrial manufacturing, surface cleaning of parts is a crucial process. Whether it's machining, automotive parts manufacturing, or precision instrument production, finished products often have oil or paint layers on their surfaces, and rust can form during storage.

[0003] Currently, laser cleaning is one of the most widely used technologies for cleaning finished product surfaces. Its working principle primarily involves using a high-energy-density pulsed laser beam to irradiate the surface of the finished product. During the cleaning process, the laser beam is directly aimed at the surface, and the instantaneously generated high temperature causes the dirt, rust, or coating on the surface to expand, vaporize, or peel off instantly, thereby removing the oil and impurities adhering to the surface and achieving the cleaning purpose.

[0004] However, in practical applications, when the surface structure of the finished product is complex, such as having uneven surfaces, blind holes, gaps, deep holes, or intersecting holes, the laser beam is easily blocked or cannot form effective radiation coverage. This makes it difficult for the laser to penetrate deep into the gaps or completely cover all areas of the finished product, easily creating cleaning dead zones. Consequently, gaps or some hidden areas cannot be thoroughly cleaned, resulting in poor cleaning performance. Summary of the Invention

[0005] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This part of the invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0006] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0007] In view of the above, a first aspect of the embodiments of this application provides a laser cleaning apparatus, comprising: A storage unit, which is used to hold the workpiece to be cleaned; A first robotic arm is disposed on one side of the storage unit; A scanning unit, which is connected to the mounting surface of the first robotic arm, is used to scan and identify the workpiece to be cleaned; A second robotic arm is disposed on one side of the storage unit; A cleaning unit is disposed on the mounting surface of the second robotic arm and is used to clean the workpiece to be cleaned based on the scanning and recognition results.

[0008] In one feasible implementation, the storage unit includes: storage table; A moving mechanism, the output end of which is connected to the platform, is used to drive the platform to move.

[0009] In one feasible implementation, the storage unit further includes: A rotating mechanism is provided at the output end of the moving mechanism, and the platform is provided at the output end of the rotating mechanism.

[0010] In one feasible implementation, a slide table is provided at the output end of the moving mechanism; The rotating mechanism includes: A rotating shaft is rotatably connected to the slide table, and one end of the rotating shaft is connected to the shelf. A rotational power source is used, the output end of which is connected to the other end of the rotating shaft.

[0011] In one feasible implementation, the scanning unit includes: A three-dimensional scanning unit is used to scan and model the workpiece to be cleaned.

[0012] In one feasible implementation, the cleaning unit includes: A cleaning machine, wherein the cleaning machine is disposed on one side of the storage unit; A laser cleaning head is disposed on the mounting surface of the second robotic arm and connected to the cleaning machine for outputting cleaning laser.

[0013] In one feasible implementation, the cleaning unit further includes: An air compression unit, comprising an air outlet pipe, the outlet of which faces the lens of the laser cleaning head, for the purpose of protecting the laser cleaning head.

[0014] In one feasible implementation, the laser cleaning equipment further includes: The second moving mechanism is located on one side of the storage unit, and the second robotic arm is located at the output end of the second moving mechanism.

[0015] In one feasible implementation, the laser cleaning equipment further includes: A cooling unit is provided on the cleaning machine and / or the laser cleaning head for cooling the cleaning machine and / or the laser cleaning head; A dust removal unit is provided on one side of the storage unit and is used to remove the smoke and dust generated during cleaning.

[0016] According to a second aspect of this embodiment, a cleaning method is provided, the method being used in the laser cleaning equipment described in any of the above technical solutions, the method comprising: Acquire three-dimensional point cloud data of the surface of the workpiece to be cleaned; The three-dimensional point cloud data is processed to construct a three-dimensional model of the workpiece to be cleaned, and the geometric feature information of the area to be cleaned is extracted. Based on the three-dimensional model and the geometric feature information, the target movement trajectory of the laser cleaning head is planned; The target movement trajectory is converted into motion commands for the end effector of the second robotic arm; The second robotic arm is controlled according to the motion command to move the laser cleaning head to clean the workpiece to be cleaned.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: The laser cleaning equipment provided in this application embodiment, by setting up a scanning unit and a first robotic arm, can first scan and identify the workpiece to be cleaned, accurately acquiring the three-dimensional model of the workpiece surface and the geometric features of the area to be cleaned; subsequently, the second robotic arm can drive the cleaning unit to move in a targeted manner based on the scanning and identification results, thereby achieving precise planning of the laser cleaning head's movement trajectory. This cleaning method based on scanning and identification results allows the laser cleaning head to flexibly adjust its position and angle according to the complex structure of the workpiece surface, ensuring that the cleaning fluid can effectively cover and penetrate all areas of the workpiece, significantly improving the cleaning effect and cleanliness of complex structural parts.

[0018] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1A schematic structural diagram of the overall structure of a laser cleaning device according to an embodiment of this application; Figure 2 A schematic structural diagram of the overall structure of a laser cleaning device according to another embodiment of this application; Figure 3 This is a flowchart illustrating a cleaning method according to one embodiment of this application.

[0020] in, Figure 1 and Figure 2 The correspondence between the reference numerals and component names in the attached drawings is as follows: 10. Storage unit, 20. First robotic arm, 30. Scanning unit, 40. Second robotic arm, 50. Cleaning unit, 60. Second moving mechanism, 70. Cooling unit, 80. Dust removal unit; 11. Storage platform, 12. Moving mechanism, 13. Rotating mechanism, 31. Three-dimensional scanning unit, 32. Air compression unit, 51. Cleaning machine, 52. Laser cleaning head. Detailed Implementation

[0021] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the technical solutions provided by the present invention. However, it will be apparent to those skilled in the art that the technical solutions provided by the present invention can be implemented without one or more of these details.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0023] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0024] To better understand the above technical solutions, the technical solutions of the embodiments of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this application and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this application, rather than limitations on the technical solutions of this application. In the absence of conflict, the embodiments of this application and the technical features in the embodiments can be combined with each other.

[0025] like Figure 1 and Figure 2 As shown, according to an embodiment of this application, a laser cleaning device is provided, including a placement unit 10, a first robotic arm 20, a scanning unit 30, a second robotic arm 40, and a cleaning unit 50. The placement unit 10 is used to hold the workpiece to be cleaned. The first robotic arm 20 is disposed on one side of the placement unit 10. The scanning unit 30 is connected to the mounting surface of the first robotic arm 20 and is used to scan and identify the workpiece to be cleaned. The second robotic arm 40 is disposed on one side of the placement unit 10. The cleaning unit 50 is disposed on the mounting surface of the second robotic arm 40 and is used to clean the workpiece to be cleaned according to the scanning and identification results.

[0026] The placement unit 10 can be configured as a workbench or an adjustable support frame to stably place the workpiece to be cleaned, ensuring that the workpiece does not shift during the cleaning process. The first robotic arm 20 and the second robotic arm 40 can be six-degree-of-freedom industrial robots, fixedly mounted on the ground or a mounting platform on the side of the placement unit 10 via a base, to cover the main cleaning area of ​​the workpiece. The scanning unit 30 can specifically include a line laser profile sensor or a structured light camera, which is mounted on the end effector of the first robotic arm 20 via a flange. Utilizing the flexibility of the first robotic arm 20, the scanning unit 30 can perform multi-angle scanning around the workpiece to acquire complete point cloud data of the workpiece surface. The cleaning unit 50 can specifically include a laser cleaning head, mounted at the end of the second robotic arm 40. Following the path trajectory generated by the scanning unit 30, the second robotic arm 40 drives the laser cleaning head to perform targeted cleaning of hard-to-reach areas on the workpiece surface, such as grooves and blind holes, effectively removing oil, paint, or rust layers.

[0027] The laser cleaning equipment provided in this application embodiment, by setting up a scanning unit 30 and a first robotic arm 20, can first scan and identify the workpiece to be cleaned, accurately acquiring the three-dimensional model of the workpiece surface and the geometric features of the area to be cleaned; subsequently, the second robotic arm 40 can drive the cleaning unit 50 to move in a targeted manner according to the scanning and identification results, thereby achieving precise planning of the laser cleaning head's movement trajectory. This cleaning method based on the scanning and identification results allows the laser cleaning head to flexibly adjust its position and angle according to the complex structure of the workpiece surface, such as unevenness, blind holes, and gaps, ensuring that the cleaning area can effectively cover and penetrate all areas of the workpiece. Therefore, this equipment overcomes the problems of existing cleaning technologies easily generating cleaning dead zones and being unable to form effective impact when dealing with complex structural parts, eliminating cleaning blind spots, and significantly improving the cleaning effect and cleanliness of complex structural parts.

[0028] In some possible embodiments provided by the present invention, the storage unit 10 includes a storage platform 11 and a moving mechanism 12. The output end of the moving mechanism 12 is connected to the storage platform 11 and is used to drive the storage platform 11 to move.

[0029] Specifically, the moving mechanism 12 can be any one of a seventh-axis ground rail, a linear motor module, or a lead screw and nut transmission mechanism. For example, the moving mechanism 12 includes a guide rail extending horizontally and a slider slidably connected to the guide rail, with a table 11 mounted on the slider. When different sides of the workpiece need to be cleaned, the motor drives the lead screw to rotate, causing the slider and table 11 to reciprocate along the guide rail, thereby adjusting the position of the workpiece relative to the second robotic arm 40. This structure allows the robotic arm to cover all areas of the workpiece without extensive extension, improving the working rigidity and positioning accuracy of the robotic arm, while also facilitating the loading and unloading of workpieces.

[0030] In one feasible implementation, the storage unit 10 further includes a rotating mechanism 13, which is disposed at the output end of the moving mechanism 12, and the storage platform 11 is disposed at the output end of the rotating mechanism 13.

[0031] Specifically, the rotating mechanism 13 can be implemented as a rotary table or a direct drive motor. The stator of the rotating mechanism 13 is fixedly connected to the output end of the moving mechanism 12, and the rotor is fixedly connected to the placement platform 11. When the workpiece to be cleaned has a complex back or side structure, after the moving mechanism 12 moves the workpiece to a preset position, the rotating mechanism 13 operates, driving the placement platform 11 to rotate around the vertical or horizontal axis by a preset angle. This allows the workpiece, which was originally in a shadow or dead angle, to be rotated to an orientation that facilitates the operation of the cleaning unit 50. Combined with the multi-angle movement of the robotic arm, full-coverage cleaning of the workpiece is achieved, eliminating the need for manual flipping and improving the degree of automation.

[0032] In one feasible implementation, the output end of the moving mechanism 12 is provided with a slide table, and the rotating mechanism 13 includes a rotating shaft and a rotation power source. The rotating shaft is rotatably connected to the slide table, one end of the rotating shaft is connected to the table 11, and the output end of the rotation power source is connected to the other end of the rotating shaft.

[0033] In this embodiment, the rotating shaft is vertically mounted on the slide via a bearing housing. The rotational power source can be a servo motor or a geared motor, with its output shaft connected to the lower end of the rotating shaft via a coupling. The upper end of the rotating shaft is fastened to the platform 11 via bolts. During operation, the rotational power source receives a control signal and drives the rotating shaft to rotate 360 ​​degrees relative to the slide. This split structure facilitates modular installation and maintenance. Simultaneously, the rotational cooperation between the rotating shaft and the slide ensures the stability of the platform 11 during rotation, preventing wobbling caused by workpiece center of gravity shift and ensuring positional accuracy during the cleaning process.

[0034] Understandably, the combination of linear displacement and rotational motion of the workpiece in the horizontal plane is achieved through the cooperation of the slide table and the rotating mechanism 13, which greatly expands the cleaning operation space, enabling multi-face cleaning to be completed in a single station, and improving the space utilization and production efficiency of the equipment.

[0035] In one feasible implementation, the scanning unit 30 includes a three-dimensional scanning unit 31, which is used to scan and model the workpiece to be cleaned.

[0036] For example, the three-dimensional scanning unit 31 may specifically be an industrial-grade 3D laser scanner, which integrates a high-resolution CMOS lens and a laser emitter.

[0037] In one feasible implementation, the cleaning unit 50 includes a cleaning machine 51 and a laser cleaning head 52. The cleaning machine 51 is disposed on one side of the storage unit 10, and the laser cleaning head 52 is connected to the cleaning machine 51 for outputting cleaning laser. The laser cleaning head 52 is disposed on the mounting surface of the second robotic arm 40.

[0038] Specifically, the cleaning machine 51 typically serves as the main unit for laser generation and control, integrating a laser, cooling system, and electrical control cabinet. To optimize production space and minimize interference with the work area, the cleaning machine 51 is independently positioned on one side of the storage unit 10, connected to an external power supply and control system via cables. The laser cleaning head 52 is the end effector directly acting on the finished product. It is connected to the cleaning machine 51 via a dedicated fiber optic cable to receive and output high-energy-density cleaning laser light. In actual assembly, to ensure the cleaning head can flexibly and from multiple angles cover all surfaces of the finished product, the laser cleaning head 52 is mounted on the mounting surface of the second robotic arm 40. This mounting surface is typically located at the front flange of the robotic arm, allowing the laser cleaning head 52 to move freely with the second robotic arm 40, precisely projecting the laser beam onto the surface of the finished product to be cleaned, achieving efficient and automated cleaning and improving cleaning efficiency and quality.

[0039] In one feasible embodiment, the cleaning unit further includes an air compression unit 32, which includes an air outlet pipe with its outlet facing the lens of the laser cleaning head 52 for protecting the laser cleaning head 52.

[0040] During actual operation, the air compression unit 32 continuously or intermittently generates compressed air, which is then discharged through the exhaust pipe, forming a high-speed airflow at the outlet of the exhaust pipe. This airflow directly blows onto the lens surface of the laser cleaning head 52. In this way, an air curtain protective barrier can be formed in front of the lens, effectively preventing external dust, smoke, or debris from adhering to or splashing onto the lens, thereby maintaining the cleanliness of the lens and preventing contaminants from damaging the lens or affecting the laser transmission quality, thus achieving effective protection for the laser cleaning head 52.

[0041] like Figure 2 As shown, in some of the above embodiments, the laser cleaning equipment further includes a second moving mechanism 60, which is disposed on one side of the storage unit 10, and a second robotic arm 40 is disposed at the output end of the second moving mechanism 60.

[0042] In this embodiment, the second moving mechanism 60 can be selected as a linear module with a ground rail or a gantry truss structure, and is arranged across or parallel to the placement unit 10. The base of the second robotic arm 40 is fixedly mounted on the slide of the second moving mechanism 60 via a connecting plate. When the workpiece to be cleaned is long or densely arranged, the second moving mechanism 60 drives the second robotic arm 40 to move a long distance along the guide rail, which, in conjunction with the joint movement of the robotic arm itself, greatly expands the horizontal working range of the cleaning unit 50. This layout is particularly suitable for cleaning large plates and long shaft parts, solving the problem of limited working radius of a single robotic arm.

[0043] Understandably, the addition of the second moving mechanism 60 enables zoned cleaning of large-span workpieces, reduces the idle time of the robotic arm, and improves the overall cleaning cycle time, thus possessing high practical value.

[0044] like Figure 2 As shown, in some of the above embodiments, the laser cleaning equipment further includes a cooling unit 70, which is disposed in the cleaning machine 51 and / or the laser cleaning head 52, and is used to cool the cleaning machine 51 and / or the laser cleaning head 52.

[0045] In this embodiment, the cooling unit 70 can use a water-cooled circulation system or an air-cooled system. For example, a water-cooled jacket can be installed on the cleaning machine 51 to remove the heat generated by the high-pressure water pump during operation through circulating cooling water; or heat dissipation fins can be installed on the housing of the laser cleaning head 52, and forced air cooling can be achieved using a temperature-controlled fan. For the laser cleaning head 52, the cooling unit 70 is particularly important for ensuring the performance of the optical components. Through continuous heat exchange, the cooling unit 70 can control the temperature of the cleaning machine 51 and the laser cleaning head 52 within a suitable operating range, preventing equipment shutdown protection, seal aging, or damage to electronic components due to overheating, and ensuring that the laser cleaning equipment can operate continuously and stably for a long time.

[0046] like Figure 2 As shown, in some of the above embodiments, the laser cleaning equipment also includes a dust removal unit 80, which is disposed on one side of the storage unit 10 and is used to remove the smoke and dust generated during cleaning.

[0047] In this technical solution, the dust removal unit 80 may specifically include a dust collection hood, a negative pressure fan, a filter cartridge, and a dust discharge port. The dust collection hood is located above or to the side of the storage unit 10 and is connected to the negative pressure fan via a pipe. When metal dust or paint mist is generated during the cleaning process, the negative pressure fan is activated, creating a negative pressure zone at the dust collection hood opening. This draws the pollutants into the pipe and intercepts them through the filter cartridge, while the purified gas is discharged. This structure effectively improves the working environment in the workshop, prevents suspended particulate matter from harming the respiratory tract of operators, and also avoids dust diffusion that contaminates the surface of the cleaned workpiece.

[0048] In this embodiment, all the above-mentioned equipment is installed in a cleaning chamber, which is enclosed by soundproof panels and a transparent observation window, forming a relatively closed cleaning operation space. The storage unit 10 is fixedly installed in the central area of ​​the bottom of the cleaning chamber. The top or side wall of the cleaning chamber is provided with an interface for connecting to the external exhaust system. The aforementioned dust removal unit 80 is connected to the external pipe through this interface, thereby extracting the dust or paint mist generated during the cleaning operation in real time, maintaining a slight negative pressure state in the cleaning chamber, and preventing pollutants from overflowing.

[0049] like Figure 3As shown, a second aspect of this embodiment also provides a cleaning method, which uses the laser cleaning equipment described in any of the above technical solutions, and the method includes: S91: Acquire the three-dimensional point cloud data of the surface of the workpiece to be cleaned.

[0050] Specifically, the first robotic arm 20 can drive the scanning unit 30 installed at its end to move to the preset scanning range of the workpiece to be cleaned. The line laser sensor in the scanning unit 30 is controlled to project laser lines onto the workpiece surface, and an industrial camera simultaneously acquires the image of the deformed stripes of the laser lines on the workpiece surface. The image data is then transmitted to the control computer via an image acquisition card. The computer uses the principle of triangulation to perform real-time calculation on the image data, thereby obtaining the dense X, Y, and Z three-dimensional coordinate points on the workpiece surface and generating original three-dimensional point cloud data containing the workpiece surface morphology information.

[0051] S92: Process the 3D point cloud data, construct a 3D model of the workpiece to be cleaned, and extract the geometric feature information of the area to be cleaned.

[0052] The processing of 3D point cloud data includes outlier removal, filtering and smoothing, and data simplification. Then, point cloud data acquired from multiple perspectives are registered and stitched together to form a complete workpiece point cloud. A digital 3D mesh model of the workpiece to be cleaned is constructed using a point cloud meshing algorithm. Following this, feature recognition is performed on the 3D mesh model. Through curvature analysis and normal vector calculation, regions with specific geometric properties, such as planes, curved surfaces, deep holes, blind holes, and grooves, are segmented from the 3D mesh model. The contour coordinates, depth dimensions, and normal vectors of these regions are extracted as the geometric feature information of the area to be cleaned.

[0053] S93: Based on the three-dimensional model and geometric feature information, plan the target movement trajectory of the laser cleaning head 52.

[0054] Specifically, the control system maps the working path of the laser cleaning head 52 in the three-dimensional model based on the extracted geometric feature information. For planar or high-curvature curved surfaces, a grating-type or reciprocating scanning path planning strategy is adopted. For deep holes, blind holes, or gaps, an insertion-type fixed-point cleaning path or a contour-following path is planned. At the same time, based on the position and normal vector of each region, the optimal spatial attitude and target distance of the laser cleaning head 52 at each sampling point on the path are calculated, and a continuous target movement trajectory containing position coordinates, attitude angles, and motion speed parameters is generated.

[0055] S94: Convert the target movement trajectory into motion commands for the end effector of the second robotic arm 40.

[0056] Specifically, the motion controller receives the planned target movement trajectory and generates control pulses or bus communication commands to drive the 40 servo motors of the second robotic arm to operate precisely.

[0057] S95: Control the second robotic arm 40 to move the laser cleaning head 52 according to the motion command in order to clean the workpiece to be cleaned.

[0058] In this embodiment, the acquisition of three-dimensional point cloud data of the workpiece surface to be cleaned is specifically achieved by the first robotic arm 20 driving the scanning unit 30 to perform multi-view scanning of the workpiece, whether stationary or rotating. The scanning unit 30 converts the collected optical signals into point cloud data. During processing, the control system performs filtering, noise reduction, stitching, and surface reconstruction on the point cloud data to generate a high-precision three-dimensional digital model. Algorithms are used to identify geometric features requiring focused cleaning, such as blind holes, chamfers, and welds. During trajectory planning, the system matches corresponding cleaning process parameters, such as nozzle posture and movement speed, according to the feature type, and generates a continuous spatial path curve. Subsequently, inverse kinematics calculations convert the spatial path into angle and speed commands for each joint motor of the second robotic arm 40. Finally, the controller drives the robotic arm to precisely execute the cleaning action according to the commands, achieving adaptive cleaning for different workpiece shapes.

[0059] In this invention, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "link," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "link" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0060] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0062] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A laser cleaning device, characterized in that, include: A storage unit, which is used to hold the workpiece to be cleaned; A first robotic arm is disposed on one side of the storage unit; A scanning unit, which is connected to the mounting surface of the first robotic arm, is used to scan and identify the workpiece to be cleaned; A second robotic arm is disposed on one side of the storage unit; A cleaning unit is disposed on the mounting surface of the second robotic arm and is used to clean the workpiece to be cleaned based on the scanning and recognition results.

2. The laser cleaning equipment according to claim 1, characterized in that, The storage unit includes: storage table; A moving mechanism, the output end of which is connected to the platform, is used to drive the platform to move.

3. The laser cleaning equipment according to claim 2, characterized in that, The storage unit also includes: A rotating mechanism is provided at the output end of the moving mechanism, and the platform is provided at the output end of the rotating mechanism.

4. The laser cleaning equipment according to claim 3, characterized in that, The output end of the moving mechanism is provided with a slide table; The rotating mechanism includes: A rotating shaft is rotatably connected to the slide table, and one end of the rotating shaft is connected to the shelf. A rotational power source is used, the output end of which is connected to the other end of the rotating shaft.

5. The laser cleaning equipment according to claim 1, characterized in that, The scanning unit includes: A three-dimensional scanning unit is used to scan and model the workpiece to be cleaned.

6. The laser cleaning equipment according to claim 1, characterized in that, The cleaning unit includes: A cleaning machine, wherein the cleaning machine is disposed on one side of the storage unit; A laser cleaning head is disposed on the mounting surface of the second robotic arm and is electrically connected to the cleaning machine for outputting cleaning laser.

7. The laser cleaning equipment according to claim 6, characterized in that, The cleaning unit further includes: An air compression unit, comprising an air outlet pipe, the outlet of which faces the lens of the laser cleaning head, for the purpose of protecting the laser cleaning head.

8. The laser cleaning equipment according to any one of claims 1 to 7, characterized in that, Also includes: The second moving mechanism is located on one side of the storage unit, and the second robotic arm is located at the output end of the second moving mechanism.

9. The laser cleaning equipment according to any one of claims 1 to 7, characterized in that, Also includes: A cooling unit is provided on the cleaning machine and / or the laser cleaning head for cooling the cleaning machine and / or the laser cleaning head; A dust removal unit is provided on one side of the storage unit and is used to remove the smoke and dust generated during cleaning.

10. A cleaning method, characterized in that, The method for the laser cleaning apparatus according to any one of claims 1 to 9 comprises: Acquire three-dimensional point cloud data of the surface of the workpiece to be cleaned; The three-dimensional point cloud data is processed to construct a three-dimensional model of the workpiece to be cleaned, and the geometric feature information of the area to be cleaned is extracted. Based on the three-dimensional model and the geometric feature information, the target movement trajectory of the laser cleaning head is planned; The target movement trajectory is converted into motion commands for the end effector of the second robotic arm; The second robotic arm is controlled according to the motion command to move the laser cleaning head to clean the workpiece to be cleaned.

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