Laser cleaning device and flexible cleaning production line

Abstract

The utility model discloses a laser cleaning device and a flexible cleaning production line. The laser cleaning device comprises a moving platform, a mechanical arm, a cleaning mechanism, a rotating mechanism, a mechanical positioning mechanism and a visual positioning module. The moving platform serves as a carrier and can bear the mechanical arm to move, the cleaning mechanism is arranged at the execution end of the mechanical arm and used for conducting laser cleaning on a workpiece, and the rotating mechanism is used for driving a laser head assembly of the cleaning mechanism to rotate, so that the laser head assembly has the large freedom degree. When the moving platform is close to the mold, the mechanical positioning mechanism is in butt joint with the mold, the mold is primarily positioned, then the mold is photographed by the optical positioning module, and then secondary positioning (visual positioning) is performed, so that the positioning precision is improved. And finally, the mechanical arm drives the laser head assembly to move to complete the cleaning process, the whole machining process can be fully automatically carried out without waiting for mold cooling, and the efficiency is higher.

Description

Technical Field

[0001] The present application relates to the field of laser cleaning, and in particular to a laser cleaning device and a flexible cleaning production line. Background Art

[0002] With the continuous development of the automotive industry, tire production processes are also evolving. Removing oxide layers and oily residues from tire molds is a manual process that requires cooling the mold, disassembling and cleaning, and then reassembling. Specific cleaning methods include sandblasting, ultrasonic cleaning, or dry ice cleaning. However, these methods require the mold to cool from high temperatures for several hours before being moved to the cleaning equipment. This results in a time-consuming and inefficient cleaning process, resulting in a tedious and costly process. Utility Model Content

[0003] This application proposes a laser cleaning device and a flexible cleaning production line, which can efficiently clean tire molds.

[0004] This application proposes a laser cleaning device, comprising:

[0005] Mobile platforms;

[0006] A robotic arm is provided on the mobile platform, wherein the robotic arm includes an execution end;

[0007] A cleaning mechanism comprising a laser head assembly provided at the execution end, a laser generator provided at the mobile platform, and an optical path protection assembly connecting the laser generator and the laser head assembly;

[0008] A rotating mechanism, provided at the execution end, for driving the laser head assembly to rotate;

[0009] A mechanical positioning mechanism, provided on one side of the mobile platform, for initially positioning the mold;

[0010] The optical positioning module includes a visual camera arranged at the execution end, and the optical positioning module is used to perform secondary positioning on the mold.

[0011] In some embodiments, the rotating mechanism comprises:

[0012] A rotating assembly comprising a rotating base and a rotating member rotatably connected to the rotating base, wherein the rotating member is provided with a through hole for laser light to pass through, the through hole being coaxial with the rotation center of the rotating member; one end of the rotating member is connected to the optical path protection assembly, and the other end is connected to the laser head assembly;

[0013] The motor is arranged on the rotating seat and is used for driving the rotating member to rotate; the laser head assembly is arranged on the rotating member.

[0014] In some embodiments, the laser head assembly includes:

[0015] A mounting seat, provided on the rotating member, and having a chamber in the interior thereof communicated with the through hole;

[0016] a reflector, disposed in the chamber and facing the through hole;

[0017] a galvanometer mirror, disposed in the chamber and facing the reflecting mirror;

[0018] The mounting seat is further provided with a light outlet communicated with the chamber, and the light outlet faces the galvanometer.

[0019] In some embodiments, the optical path protection component further includes:

[0020] a reflector, disposed on the rotating base and rotatably connected to the rotating member, the reflector being located on a side of the rotating base away from the laser head assembly;

[0021] a protective tube, provided on a side of the reflector adjacent to the rotating seat;

[0022] The optical path connector is arranged at one end of the protection tube away from the reflector.

[0023] In some embodiments, the mechanical positioning mechanism includes a positioning member provided on one side of the movable platform, and the positioning member is used to dock with the mold.

[0024] In some embodiments, the positioning member includes a rod, and two rods spaced apart from each other are provided on one side of the movable platform. The ends of the two rods are away from the movable platform and are used to abut against the mold.

[0025] In some embodiments, a V-shaped groove is provided on the positioning member, and the V-shaped groove is used to dock with the outer periphery of the mold. A magnetic attraction member is also provided in the V-shaped groove.

[0026] In some embodiments, the mobile platform comprises an automated guided transport vehicle.

[0027] In some embodiments, the optical positioning module further includes a scanner disposed at the execution end, and the scanner is drivingly connected to the rotating mechanism.

[0028] The present application also proposes a flexible cleaning production line, including the above-mentioned laser cleaning device.

[0029] This application proposes a laser cleaning device and a flexible cleaning production line. The laser cleaning device includes a mobile platform, a robotic arm, a cleaning mechanism, a rotating mechanism, a mechanical positioning mechanism, and a visual positioning module. The mobile platform serves as a carrier to carry the robotic arm to move. The cleaning mechanism is arranged at the execution end of the robotic arm and is used to laser clean the workpiece. The rotating mechanism is used to drive the laser head assembly of the cleaning mechanism to rotate, so that the laser head assembly has a greater degree of freedom. When the mobile platform is close to the mold, the mechanical positioning mechanism docks with the mold to perform an initial positioning of the mold. Subsequently, the optical positioning module takes a picture of the mold and performs a secondary positioning (visual positioning) to improve the positioning accuracy. Finally, the robotic arm drives the laser head assembly to move to complete the cleaning process. The entire processing process can be carried out fully automatically without waiting for the mold to cool down, which is more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic structural diagram of a laser cleaning device in one embodiment of the present application;

[0031] Figure 2 for Figure 1 A schematic structural diagram of the cleaning mechanism and the rotating mechanism in the embodiment;

[0032] Figure 3 for Figure 2 A cross-sectional view of the cleaning mechanism and the rotating mechanism in the embodiment;

[0033] Figure 4 2 is a cross-sectional view of a laser head assembly in one embodiment of the present application.

[0034] Description of labels:

[0035] 10. Mobile platform; 20. Robotic arm; 21. Mounting frame; 30. Cleaning mechanism; 31. Laser head assembly; 311. Mounting seat; 312. Reflector; 313. Vibrating mirror; 314. Light outlet; 32. Optical path protection assembly; 33. Reflector; 331. Reflector; 34. Optical path connector; 40. Rotating mechanism; 41. Rotating seat; 42. Rotating part; 43. Motor; 50. Positioning part.

[0036] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the schemes in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments in this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0038] It should be noted that all directional indications such as up, down, left, right, front, back, etc. in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the various components in a certain specific posture as shown in the accompanying drawings. If the specific posture changes, the directional indication will also change accordingly.

[0039] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0040] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0041] This application proposes a laser cleaning device, referring to Figures 1 to 4 The laser cleaning device includes: a mobile platform 10; a robotic arm 20, which is arranged on the mobile platform 10, and the robotic arm 20 includes an execution end; a cleaning mechanism 30, which includes a laser head assembly 31 arranged at the execution end, a laser generator arranged on the mobile platform 10, and an optical path protection assembly 32 connecting the laser generator and the laser head assembly 31; a rotating mechanism 40, which is arranged at the execution end and is used to drive the laser head assembly 31 to rotate; a mechanical positioning mechanism, which is arranged on one side of the mobile platform 10 and is used to perform initial positioning of the mold; an optical positioning module, which includes a visual camera (not shown in the figure) arranged at the execution end, and the optical positioning module is used to perform secondary positioning of the mold.

[0042] In this embodiment, the mobile platform 10 can be an AGV (automatic guided vehicle) or a vehicle such as an automatic forklift. The robotic arm 20 is installed on the mobile platform 10, and the mobile platform 10 can carry the robotic arm 20 as a vehicle to move. The laser head assembly 31 is arranged at the execution end of the robotic arm 20 and is used to perform laser cleaning on the workpiece. The rotating mechanism 40 is used to drive the laser head assembly 31 of the cleaning mechanism 30 to rotate, so that the laser head assembly 31 has a greater degree of freedom. When the mobile platform 10 is close to the mold, the mechanical positioning mechanism docks with the mold to perform the initial positioning of the mold. The robotic arm 20 then drives the visual camera to move to the top of the mold, takes a picture of the mold, and then performs the secondary positioning. Specifically, the visual positioning method is used to obtain the center coordinates of the mold and improve the positioning accuracy. Finally, the robotic arm 20 drives the laser head assembly 31 to move to complete the cleaning process and remove the oxide layer and oily residue on the mold. The entire processing process can be carried out fully automatically without waiting for the mold to cool down, which is more efficient.

[0043] In some embodiments, reference Figures 1 to 4 The rotating mechanism 40 includes: a rotating assembly, including a rotating base 41 and a rotating member 42 rotatably connected to the rotating base 41, the rotating member 42 is provided with a through hole for the laser to pass through, and the through hole is coaxial with the rotation center of the rotating member 42; one end of the rotating member 42 is connected to the optical path protection assembly 32, and the other end is connected to the laser head assembly 31; a motor 43 is provided on the rotating base 41, for driving the rotating member 42 to rotate; the laser head assembly 31 is provided on the rotating member 42.

[0044] In this embodiment, the actuator end of the robotic arm 20 is equipped with a mounting bracket 21, on which the vision camera can be mounted. The rotating assembly and optical path protection assembly 32 are also mounted on the mounting bracket 21. One end of the optical path protection assembly 32 is connected to the rotating mechanism 40 and the laser head assembly 31, respectively, while the other end is connected to the laser generator via an optical fiber. The rotating base 41 is provided with a mounting hole, into which a rotating member 42 is mounted and rotatably connected to the rotating base 41 via a bearing. The rotating member 42 consists of two parts: a tube mounted in the mounting hole and a flange at the end of the tube, which is connected to the laser head assembly 31. A motor 43 is mounted on one side of the rotating base 41 and is connected to the rotating member 42 for rotation. Specifically, a ring rack can be provided on the rotating member 42, and a gear adapted to the ring rack can be provided on the rotating shaft of the motor 43 to achieve transmission. Alternatively, a worm gear can be provided on the rotating member 42, with transmission provided via a worm gear mounted on the rotating shaft. The specific transmission methods are not limited to the two described above. In addition, by providing a through hole for the laser to pass through in the rotating member 42, the laser can be directly emitted through the rotating seat 41, and the components are more compact in structure.

[0045] In some embodiments, reference Figures 1 to 4The laser head assembly 31 includes: a mounting base 311, which is mounted on the flange at the end of the rotating member 42 and has a chamber connected to the through hole; a reflector 312, which is located in the chamber and faces the through hole; a galvanometer 313, which is located in the chamber and faces the reflector 312; and a light outlet 314 connected to the chamber, which faces the galvanometer 313. In this embodiment, the imaging spot of the emitted laser beam can be a linear spot. The reflector 312 changes the direction of the optical path and reflects the beam to the galvanometer 313. The light is then emitted from the light outlet 314 through the reflection port of the galvanometer 313. At the same time, the rotation of the galvanometer 313 can also cause the light beam to scan the surface of the mold cavity, thereby speeding up the cleaning process.

[0046] The optical path protection assembly 32 also includes a reflector 33 mounted on the rotating base 41 and rotatably connected to the rotating member 42. The reflector 33 is located on the side of the rotating base 41 away from the laser head assembly 31; a protective tube mounted on the side of the reflector 33 adjacent to the rotating base 41; and an optical path connector 34 mounted on the end of the protective tube away from the reflector 33. In this embodiment, a reflector 331 is provided within the reflector 33. The connector can be used to connect optical fibers. After entering the protective tube vertically downward, the light beam is first deflected horizontally by the reflector 331. It then passes through the rotating member 42 and enters the chamber of the mounting base 311. It is then deflected horizontally by the reflector 312 and then emitted vertically after being reflected by the galvanometer 313. The rotation center of the galvanometer 313 is parallel to that of the rotating member 42. Since the scanning angle and scanning range of the galvanometer 313 are limited, the scanning range can be expanded by driving the entire laser head assembly 31 through the rotation mechanism 40.

[0047] In some embodiments, reference Figures 1 to 4 The mechanical positioning mechanism includes a positioning member 50 provided on one side of the mobile platform 10, and the positioning member 50 is used to dock with the mold. In this embodiment, the positioning member 50 includes a rod, and two rods spaced apart from each other are provided on one side of the mobile platform 10. The ends of the two rods are away from the mobile platform 10 and are used to abut against the mold. When the ends of both rods abut against the side of the mold, the positioning is completed. In addition, the positioning member 50 can also be a positioning block. Specifically, a V-shaped groove is provided on the positioning member 50. The V-shaped groove is used to dock with the outer periphery of the mold, and a magnetic member is also provided in the V-shaped groove. Positioning can also be formed after the two inclined surfaces of the V-shaped groove contact the peripheral side of the mold. After the initial positioning is completed, the mobile platform 10 maintains the brake locked state to prevent further movement from affecting the positioning result. The magnetic member is used to adsorb the mold and also has the effect of locking the mold. Of course, the above-mentioned magnetic member can also be set as a proximity switch or sensor. If the signal changes of the proximity switches or sensors on both sides indicate that the initial positioning is completed, so that secondary visual positioning can be performed later.

[0048] In some embodiments, reference Figures 1 to 4 The optical positioning module also includes a scanner located at the execution end, which is driven and connected to the rotating mechanism 40. In this embodiment, the scanner can use structured light scanning, binocular scanning, or laser scanning technology, mainly used to scan and model the external structure of the workpiece, while also providing optical positioning. After the scanned part is modeled, different cleaning procedures can be generated based on the mold cavity structure. This is not limited to a specific mold and can be applied to molds of different shapes and internal structures, expanding the scope of application of the device.

[0049] The present application also proposes a flexible cleaning production line, which includes the above-mentioned laser cleaning device. After use, the above-mentioned mold can be transported to a set area by forklift or assembly line. The laser cleaning device can automatically move to the above-mentioned set area and clean the molds one by one. Multiple laser cleaning devices can be set up for cleaning operations. The flexible cleaning production line also includes a scheduling system, which can schedule each laser cleaning device and perform cleaning operations on different molds, thereby increasing production flexibility.

[0050] The working principle of the laser cleaning device and the flexible cleaning production line in the embodiment of the present application is as follows: the laser cleaning device includes a mobile platform 10, a robotic arm 20, a cleaning mechanism 30, a rotating mechanism 40, a mechanical positioning mechanism and a visual positioning module; the mobile platform 10 serves as a carrier to carry the robotic arm 20 to move, the cleaning mechanism 30 is arranged at the execution end of the robotic arm 20, and is used to perform laser cleaning on the workpiece, and the rotating mechanism 40 is used to drive the laser head assembly 31 of the cleaning mechanism 30 to rotate, so that the laser head assembly 31 has a greater degree of freedom. When the mobile platform 10 is close to the mold, the mechanical positioning mechanism docks with the mold to perform an initial positioning of the mold, and then the optical positioning module takes a picture of the mold and performs a secondary positioning (visual positioning) to improve the positioning accuracy. Finally, the robotic arm 20 drives the laser head assembly 31 to move to complete the cleaning process. The entire processing process can be carried out fully automatically without waiting for the mold to cool down, which is more efficient.

[0051] The above are only partial or preferred embodiments of the present application. Neither the text nor the drawings can limit the scope of protection of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the overall concept of the present application, or direct / indirect application in other related technical fields are included in the scope of protection of the present application.

Claims

1. A laser cleaning device, characterized in that: include: Mobile platforms; A robotic arm is provided on the mobile platform, wherein the robotic arm includes an execution end; A cleaning mechanism comprising a laser head assembly provided at the execution end, a laser generator provided at the mobile platform, and an optical path protection assembly connecting the laser generator and the laser head assembly; A rotating mechanism, provided at the execution end, for driving the laser head assembly to rotate; A mechanical positioning mechanism, provided on one side of the mobile platform, for initially positioning the mold; The optical positioning module includes a visual camera arranged at the execution end, and the optical positioning module is used to perform secondary positioning on the mold.

2. The laser cleaning device according to claim 1, characterized in that: The rotating mechanism comprises: A rotating assembly comprising a rotating base and a rotating member rotatably connected to the rotating base, wherein the rotating member is provided with a through hole for laser light to pass through, the through hole being coaxial with the rotation center of the rotating member; one end of the rotating member is connected to the optical path protection assembly, and the other end is connected to the laser head assembly; The motor is arranged on the rotating seat and is used for driving the rotating member to rotate; the laser head assembly is arranged on the rotating member.

3. The laser cleaning device according to claim 2, characterized in that: The laser head assembly comprises: A mounting seat, provided on the rotating member, and having a chamber in the interior thereof communicated with the through hole; a reflector, disposed in the chamber and facing the through hole; a galvanometer mirror, disposed in the chamber and facing the reflecting mirror; The mounting seat is further provided with a light outlet communicated with the chamber, and the light outlet faces the galvanometer.

4. The laser cleaning device according to claim 3, characterized in that: The optical path protection component includes: a reflector, disposed on the rotating base and rotatably connected to the rotating member, the reflector being located on a side of the rotating base away from the laser head assembly; a protective tube, provided on a side of the reflector adjacent to the rotating seat; The optical path connector is arranged at one end of the protection tube away from the reflector.

5. The laser cleaning device according to claim 1, characterized in that: The mechanical positioning mechanism includes a positioning member provided on one side of the movable platform, and the positioning member is used for docking with the mold.

6. The laser cleaning device according to claim 5, characterized in that: The positioning member includes a rod. Two mutually spaced rods are provided on one side of the movable platform. The ends of the two rods are away from the movable platform and are used to abut against the mold.

7. The laser cleaning device according to claim 5, characterized in that: The positioning member is provided with a V-shaped groove, and the V-shaped groove is used to connect with the outer periphery of the mold. A magnetic attraction member is also provided in the V-shaped groove.

8. The laser cleaning device according to claim 1, characterized in that: The mobile platform includes an automatic guided vehicle.

9. The laser cleaning device according to claim 1, characterized in that: The optical positioning module further includes a scanner disposed at the execution end, and the scanner is drivingly connected to the rotating mechanism.

10. A flexible cleaning production line, characterized in that: The laser cleaning device comprises the laser cleaning device according to any one of claims 1 to 9.

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