Mobile laser cleaning machine

Abstract

The utility model discloses a mobile laser cleaning machine belongs to laser cleaning technical field, it includes the chassis, be provided with walking system on the chassis, be used for driving the chassis to remove, the cantilever hangs the system, is installed on the chassis, the cantilever hangs the system and has the folding arm of relatively rotatable, is used for providing the support, the laser cleaning system includes the laser generator and with the cleaning head of cantilever hangs the system end connection, the cleaning head is linked with the laser generator through the optical fiber, dust extraction device communicates with the cleaning head, is used for collecting the dust generated in the cleaning process. The present application can solve the technical problem of the insufficient flexibility of the prior art for large ring cleaning.

Description

Technical Field

[0001] This utility model relates to the field of laser cleaning technology, specifically a mobile laser cleaning machine. Background Technology

[0002] As a key piece of equipment in modern tunnel construction, the main drive unit of a tunnel boring machine (TBM) undertakes the core excavation task. The main drive unit consists of multiple large ring-shaped components, with diameters typically ranging from 1 to 6 meters. The surface condition of these rings directly affects the assembly accuracy and overall performance of the main drive unit. Therefore, during the assembly of the TBM's main drive unit, the surfaces of the main drive rings must be thoroughly cleaned to remove contaminants such as loose rust, residual adhesive, and rust-preventive oil, ensuring assembly quality.

[0003] Currently, the cleaning of main drive ring components mainly employs two methods: one is manual cleaning by workers, commonly involving wiping with a cloth dampened with cleaning agent or using a grinding machine for surface treatment. This method is labor-intensive, creates a harsh working environment, and suffers from incomplete cleaning and low efficiency. Furthermore, prolonged exposure to cleaning agents and dust can negatively impact worker health, and grinding operations can damage the ring surface, failing to meet the demands of high-precision assembly. The other method involves cleaning with a fixed laser cleaning machine, which some manufacturing companies have already adopted to replace manual cleaning. Laser cleaning offers advantages such as non-contact operation, high efficiency, and environmental friendliness, effectively removing rust, oil, and other impurities from workpiece surfaces. However, most existing laser cleaning equipment uses a fixed structure, typically installed at a specific workstation or workbench, requiring the workpiece to be moved to this fixed position for cleaning. This not only increases the workload and risk associated with handling large ring components but also, due to the limited operating range of fixed equipment, makes it difficult to adapt to cleaning needs of different sizes and locations, resulting in insufficient flexibility in cleaning operations and impacting production efficiency. Utility Model Content

[0004] This invention provides a mobile laser cleaning machine to solve the technical problem of insufficient flexibility in cleaning large ring parts in the prior art.

[0005] According to one aspect of this utility model, a mobile laser cleaning machine is provided, comprising a chassis on which a walking system is provided for driving the chassis to move; a cantilever suspension system mounted on the chassis, the cantilever suspension system having a folding arm that can rotate relative to the chassis for providing support; a laser cleaning system including a laser generator and a cleaning head connected to the end of the cantilever suspension system, the cleaning head being connected to the laser generator via an optical fiber; and a dust collection system connected to the cleaning head for collecting dust generated during the cleaning process.

[0006] Optionally, the cantilever suspension system includes at least two hinged folding arms, with an electromagnetic brake between adjacent folding arms. The electromagnetic brake is in a locked position when the power is off, and allows the folding arms to rotate relative to each other when the power is on.

[0007] Optionally, the cantilever suspension system includes a main boom and a first folding arm, a second folding arm, and a third folding arm. The main boom is vertically mounted on the chassis. The first folding arm is hinged to the upper end of the main boom. The second folding arm is hinged to the end of the first folding arm. The third folding arm is hinged to the end of the second folding arm. An electromagnetic brake is provided between adjacent folding arms.

[0008] Optionally, the tail end of the cantilever suspension system is provided with a counterweight component, and the main arm is located between the counterweight component and the hinge point of the first folding arm and the second folding arm, so as to maintain the balance of the equipment when the folding arm is extended.

[0009] Optionally, the walking system includes a battery and a drive motor, the drive motor being connected to the wheels on the chassis.

[0010] Optionally, the chassis is equipped with a hydraulic lifting device to lift the chassis and lift the wheels off the ground during operation, thereby improving the stability of the equipment.

[0011] Optionally, the vacuuming system includes a vacuum pipe, a fan, and a filter assembly. The vacuum pipe is connected to the cleaning head, and the filter assembly forms a dust collection space for collecting the dust.

[0012] Optionally, the cleaning head is provided with a balancing device, which includes a spring reel and a balancing rope connected to the spring reel. The spring reel is fixed to the folding arm of the cantilever suspension system. One end of the balancing rope is connected to the spring reel, and the other end is connected to the cleaning head to counteract part of the weight of the cleaning head.

[0013] Optionally, the control button of the electromagnetic brake is located at the tail end of the corresponding folding arm, and is used to control locking and releasing when the folding arm is extended or retracted.

[0014] Optionally, a visual alarm module may also be included, which includes a camera and an alarm light, for issuing a warning when an obstacle or dangerous situation is detected.

[0015] In summary, this application includes at least one of the following beneficial technical effects: By arranging a walking system on the chassis, the equipment can move freely, and combined with a multi-segment cantilever suspension system that can rotate relative to each other, the laser cleaning head can cover the surface of ring parts at different orientations and heights, thereby significantly improving the flexibility of cleaning large ring parts; at the same time, integrating the laser cleaning system and the dust collection system into the same equipment not only allows for rapid deployment and efficient cleaning of the ring part surface after moving to the target location, but also allows for simultaneous collection of dust generated during the cleaning process, reducing pollution to the working environment and harm to personnel's health; compared with traditional fixed laser cleaning equipment, this invention not only avoids frequent handling of heavy workpieces, but also completes the operation process of chassis drive, cantilever extension, laser cleaning and dust absorption with a single device, completely solving the problems of insufficient flexibility and difficulty in ensuring environmental safety in the cleaning of large ring parts in the prior art.

[0016] In addition to the objectives, features, and advantages described above, this utility model has other objectives, features, and advantages. The present utility model will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of the structure of the mobile laser cleaning machine of this utility model;

[0019] Figure 2 This is a schematic diagram of the cantilever suspension system of the mobile laser cleaning machine of this utility model in its unfolded state;

[0020] Figure 3 This is a schematic diagram of the cantilever suspension system of the mobile laser cleaning machine of this utility model in its folded state;

[0021] Figure 4 This is a schematic diagram of the structure of the cleaning head and the dust extraction pipe of this utility model;

[0022] Figure 5 This is a schematic diagram of the mobile laser cleaning machine of this utility model cleaning ring-shaped parts.

[0023] Legend:

[0024] 1. Hydraulic lifting device; 2. Walking system; 3. Laser cleaning system; 31. Cleaning head; 4. Dust collection system; 41. Dust collection pipe; 5. Electrical control system; 6. Cantilever suspension system; 61. Main boom; 62. First folding boom; 63. Second folding boom; 64. Third folding boom; 7. Visual alarm system; 8. Chassis; 9. Counterweight components; 10. Balancing device. Detailed Implementation

[0025] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0026] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0027] This application discloses a mobile laser cleaning machine.

[0028] Reference Figure 1 The mobile laser cleaning machine includes a chassis 8, a cantilever suspension system 6, a laser cleaning system 3, and a dust extraction system 4. It is primarily designed for cleaning the ring components of the main drive unit of tunnel boring machines or other large ring components, such as large circular or annular components with diameters ranging from 1 to 6 meters or even larger. Traditional methods for cleaning the surface of ring components include manual grinding, chemical cleaning, or fixed laser cleaning. These methods suffer from insufficient flexibility, high workload, or low efficiency when handling large, heavy, and difficult-to-move workpieces. This invention, by setting a walking system 2 on the chassis 8, allows the entire machine to be moved to the cleaning location. Combined with the multi-segment foldable cantilever suspension system 6, the laser cleaning head 31 can cover a wider range and more complex geometric positions, thereby efficiently removing rust, oil, oxides, or coatings.

[0029] The chassis 8 in this embodiment has a rectangular structure and adopts a metal frame or an integrated welded chassis 8, which can support all components including the laser cleaning device, the cantilever suspension system 6, and electrical components. The length and width of the chassis 8 can be flexibly customized according to the usage scenario, site access width, and ring size.

[0030] To automate or semi-automate the movement process, this embodiment installs a walking system 2 on the chassis 8. The walking system 2 includes wheels, a drive motor, a transmission mechanism, and a control panel or remote control. The wheel assembly can have four or more wheels, and the front or rear wheels can be designed as steerable wheels; differential drive can also be used. The power source for the walking system 2 is typically a motor and battery. The motor output drives the wheels to rotate through a transmission mechanism (such as gears, belts, or chains), enabling forward, backward, and turning within a certain range. For special working conditions, hydraulic motors or other power solutions can also be considered. The operator can input forward, backward, and turning commands on the control panel built into the machine, or remotely control it. Multiple speed settings and turning radius can be adjusted to adapt to different factory environments. Through this walking system 2, the equipment can flexibly move to the location of the ring component without the need for cranes or forklifts to transport the workpiece, reducing potential damage to the ring component during handling and reliance on manual labor.

[0031] To prevent the equipment from swaying or vibrating due to inertia or external forces during cleaning, this embodiment can install a hydraulic lifting device 1 on the chassis 8. Once the target position is reached, the operator can activate the hydraulic lifting device 1 to lift the wheels off the ground, so that the chassis 8 is reliably supported on the ground.

[0032] The hydraulic jacking device 1 typically comprises several sets of hydraulic cylinders distributed at the four corners or key load-bearing positions of the chassis 8, connected piston rods, and bottom support pads, supplemented by a hydraulic circuit system, hydraulic pump, and control valves. Its working principle involves applying high-pressure oil to the hydraulic cylinders, causing the piston rods to move up and down inside the cylinders, thereby changing the relative position of the device with respect to the ground. Once the equipment has moved to the target work position, the operator first stops the walking system 2 and locks the wheels, then starts the hydraulic pump to provide pressure to each hydraulic cylinder. At this point, the piston rods extend from inside the cylinders, contacting the ground or support pads and lifting the chassis 8, slightly suspending the wheels off the ground, thus creating a relatively fixed support for the chassis 8 between the jacking device and the ground. Depending on the working environment or operational requirements, the extension height of each hydraulic cylinder can be adjusted individually or simultaneously, thereby keeping the entire equipment stable and preventing significant tilting.

[0033] The hydraulic lifting device 1 can quickly lift the entire vehicle before the cleaning operation begins, significantly reducing vibrations caused by workpiece contact or micro-displacements caused by the wheels, thus keeping the equipment stable. This not only helps the laser cleaning head 31 obtain a reliable positioning reference when performing high-precision operations, but also greatly reduces the risk of temporary collisions or accidental shaking. Especially when dealing with large-diameter or highly sensitive ring parts, it can significantly improve work efficiency and safety.

[0034] Reference Figure 2 and Figure 3The cantilever suspension system 6 is mounted on the chassis 8. The cantilever suspension system 6 has folding arms that can rotate relative to each other to provide support. To achieve the largest possible operating radius within the limited machine space, while not hindering the equipment's movement within the factory, a layout of "one main arm 61 + several folding arms" is adopted. Specifically, the number of folding arms can be two, three, or more. In this embodiment, three folding arms are provided. The main arm 61 is vertically mounted on the upper end of the chassis 8. The first folding arm 62, the second folding arm 63, and the third folding arm 64 are connected sequentially by hinges and unfold horizontally. When large-area cleaning is required, each folding arm can be fully unfolded; when the equipment needs to be stored or parked, each folding arm can be folded back to fit against the main arm 61.

[0035] Bearing seats are provided at the joints between the main arm 61 and the first folding arm 62, the first folding arm 62 and the second folding arm 63, and the second folding arm 63 and the third folding arm 64 to allow the folding arms to rotate at a certain angle relative to the main arm 61 or the preceding folding arm. To achieve automatic locking, the present invention arranges an electromagnetic brake at each hinge. When energized, the locking element inside the electromagnetic brake disengages or releases, allowing the folding arm to rotate freely; when de-energized or when a locking command is pressed, the brake holds the folding arm at the current angle.

[0036] An electromagnetic brake consists of an electromagnetic coil, a brake disc, friction pads, and corresponding support components. Its working principle is "release when energized, clamp when de-energized (or upon specific triggering)." Specifically, when the electromagnetic coil is energized, a strong magnetic field is generated around it. This magnetic field attracts the brake disc to the iron core or relative friction surface fixed to the bearing seat or adjacent structural components, so that the brake disc and friction pads are in a state of relative separation or near-no clamping force, thus allowing the bearing to maintain normal rotation. Once the current to the electromagnetic coil is cut off, the magnetic field disappears rapidly. The bearing itself or the pre-tightened spring (or other mechanical reset element) inside the brake will cause the brake disc and friction pads to fit tightly together, thereby forming a strong friction force on the bearing rotation surface, causing the bearing movement to be "locked up" or enter a state of high resistance, achieving rapid braking.

[0037] By incorporating an electromagnetic brake, the folding arm can be quickly locked or released when needed, allowing for precise positioning and secure fixation at different angles, thus improving operational flexibility and equipment safety. For ease of operation, the control button for the electromagnetic brake is located at the tail end of the corresponding folding arm. Operators can adjust the position and angle of the cleaning head 31 relative to the ring by simply operating the end of the folding arm, significantly enhancing the flexibility and precision of the cleaning operation.

[0038] Because the center of gravity of the entire machine may shift when the folding arm is extended to a large extent, a counterweight component 9 is provided at the tail end of the cantilever suspension system 6 of this invention to prevent the equipment from tilting forward or sideways. The main arm 61 is located between the counterweight component 9 and the hinge point between the first folding arm 62 and the second folding arm 63 to maintain the balance of the equipment when the folding arm is extended. The mass and position of the counterweight can be determined based on the overall center of gravity of the equipment to ensure that there is no significant tilting or tipping even at the farthest extension range.

[0039] When the laser cleaning head 31 and the vacuum pipe 41 are relatively heavy, a balancing device 10 can be attached to the folding arm. The balancing device 10 includes a spring reel and a balancing rope connected to the spring reel. The spring reel is fixed to the folding arm of the cantilever suspension system 6. One end of the balancing rope is connected to the spring reel, and the other end is connected to the cleaning head 31 to offset part of the weight of the cleaning head 31. The core of the balancing device 10 is to use the spring reel to store and release elastic potential energy: when the operator lifts or moves the cleaning head 31, the balancing rope is stretched, and the spring in the spring reel is correspondingly stressed and generates a pull-back force, thereby partially offsetting the weight of the cleaning head 31 and the vacuum pipe 41; when the cleaning head 31 is pushed back or lowered, the rope retracts, causing the spring to gradually return to its original position and continue to maintain continuous support. Through this process, the operator will not feel excessive fatigue when holding the cleaning head 31 in different positions, and can adjust the laser cleaning angle more smoothly, which not only improves work efficiency but also significantly reduces muscle strain caused by the weight of the tool.

[0040] The laser cleaning system 3 includes a laser generator and a cleaning head 31 connected to the end of the cantilever suspension system 6. The cleaning head 31 is connected to the laser generator via an optical fiber. This embodiment uses a fiber laser or a pulsed laser. The laser generator can be equipped with a cooling system, such as a water-cooled circulation or air-cooled device, to ensure stable operation of the laser under continuous working conditions. The laser generator is connected to a control panel via electrical wiring, allowing the operator to set laser cleaning parameters such as power, frequency, and scanning speed on the control panel. The optical fiber is used to transmit laser energy from the laser generator to the cleaning head 31. Considering that the cantilever may extend and fold, the optical fiber should have sufficient slack and flexibility, and is usually fixed to the surface of the arm in the form of a support hose or cable tray to prevent accidental breakage or damage. When a high-energy-density laser beam irradiates the surface of the workpiece, the rust, oxide film, or oil at the irradiated area will instantly absorb the laser energy and undergo rapid vaporization, sublimation, or disintegration, thereby separating from the substrate and achieving a cleaning effect. This process does not require the use of chemical cleaning agents and will not cause significant wear or secondary contamination to the substrate. Compared to traditional grinding methods, laser cleaning is more precise and environmentally friendly.

[0041] Reference Figure 4The dust collection system 4 is connected to the cleaning head 31 and is used to collect dust generated during the cleaning process. The dust collection system 4 includes a dust collection pipe 41, a fan, and a filter assembly. The dust collection pipe 41 is connected to the cleaning head 31, and a dust collection space is formed within the filter assembly for collecting dust. In this embodiment, the dust collection pipe 41 is integrated near the cleaning head 31, preferably with an intake port located below or to the side of the laser beam to capture dust particles, smoke, etc., generated during the cleaning process. The intake port can be offset to a certain extent relative to the center of the laser spot, so as not to block the laser channel and to efficiently absorb most of the dust. A fan is installed inside the chassis 8 or at the rear of the integrated device, using negative pressure to bring dust-laden gas from the dust collection pipe 41 into the filter or dust collection chamber. The filter assembly can consist of multi-stage filters, such as coarse filters, HEPA filters, or activated carbon layers, to intercept particles and dust of different sizes, reducing harm to the environment and operators.

[0042] By directly introducing the dust collection system 4 at the cleaning head 31, secondary pollution during the cleaning process can be minimized. Compared with the traditional solution of placing a dust collection hood at a remote end or using a separate dust collection device, this embodiment significantly shortens the dust collection distance and changes with the angle of the laser cleaning head 31, which not only eliminates the trouble of frequently adjusting the dust collection position, but also reduces the impact of dust pollution on human body and workshop environment.

[0043] To prevent accidental collisions during equipment movement or large-scale boom movements, a visual alarm module is installed. This module includes a camera and alarm lights, used to issue warnings when obstacles or dangerous situations are detected. Specifically, radar, cameras, and alarm lights can be installed at the front and rear of the chassis 8 or on the folding boom. Once an obstacle or operational hazard is detected, the camera and radar work together to issue an audible and visual alarm. The operator can then view the work area in real time on the control panel or remote terminal and take emergency actions.

[0044] In this embodiment, the drives, power supplies, and signals of all components are integrated into a single electrical control system. This main control unit manages the walking motor, laser, fan, and electromagnetic brake. A human-machine interface is installed on the machine body or remotely, allowing the operator to view information such as current walking speed, laser power, vacuum fan speed, and filter status, as well as to set parameters or diagnose faults.

[0045] Reference Figure 5 In this embodiment, the specific operation can be carried out according to the following steps:

[0046] Moving and Positioning: Move this equipment from the parking area to the vicinity of the large ring-shaped component to be cleaned. For long-distance moves, it can be used outdoors or on factory roads, with the travel speed appropriately controlled based on the wheel drive motor and site limitations.

[0047] Initial adjustment: The operator retracts each folding arm of the cantilever suspension system 6 to a safe position on the control panel to avoid collisions with obstacles during travel. Upon reaching the target area, the first, second, and third folding arms 64 are then partially extended based on the site conditions, with a pre-set approximate orientation.

[0048] Lifting and Locking: If high positioning accuracy or stability is required, the hydraulic lifting device 1 can be activated to lift the wheels off the ground to prevent the equipment from swaying during operation. After the hydraulic lifting is in place, if no immediate fine-tuning is required for each folding arm, the electromagnetic brake can be switched to the locking state.

[0049] Aligning the workpiece: If the workpiece is large or has a complex shape, the operator needs to carefully observe the relative position of the cleaning head 31 and the surface of the ring on the equipment. The electromagnetic brake switch is used to unlock and adjust the first folding arm 62, the second folding arm 63, and the third folding arm 64, which are then sequentially unfolded to appropriate angles, precisely aligning the cleaning head 31 with the area to be cleaned. During this process, the balancing device 10 effectively reduces the weight of the cleaning head 31, minimizing operator fatigue.

[0050] Initiating cleaning: Activate the laser and simultaneously turn on the fan of the vacuum system 4. The laser beam irradiates the surface of the ring through the cleaning head 31, removing rust or oil stains; the vacuum pipe 41 immediately draws the generated smoke and microparticles into the filter assembly, minimizing dust diffusion and air pollution.

[0051] Workstation Changeover: After cleaning this section is complete, the operator can continue cleaning adjacent areas by making small adjustments at the hinge of the folding arm. If the entire ring needs to be cleaned at multiple points or large angles, the electromagnetic brake can be released and the boom rotated to a new position. If it is necessary to move to a more distant position, the folding arm can be retracted first, the hydraulic lifting can be removed, and then the walking system 2 can be driven to move the equipment to the next ring workstation.

[0052] Evacuation and Parking: After cleaning, turn off the laser cleaning system 3 and the vacuum system 4; if the hydraulic device is in the extended state, reset it first. The operator should restore the cantilever suspension system 6 to its folded or partially folded state, and after confirming driving safety, drive back to the warehouse or the next target.

[0053] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mobile laser cleaning machine, characterized in that, include: A chassis (8) is provided with a walking system (2) for driving the chassis to move; A cantilever suspension system (6) is mounted on the chassis (8), the cantilever suspension system (6) having a folding arm that can rotate relative to each other to provide support; The laser cleaning system (3) includes a laser generator and a cleaning head (31) connected to the end of the cantilever hanging system (6), wherein the cleaning head (31) is connected to the laser generator via an optical fiber; The dust collection system (4) is connected to the cleaning head (31) and is used to collect the dust generated during the cleaning process.

2. The mobile laser cleaning machine according to claim 1, characterized in that: The cantilever suspension system (6) includes at least two hinged folding arms, and an electromagnetic brake is provided between adjacent folding arms. The electromagnetic brake is in a locked position when the power is off, and allows the folding arms to rotate relative to each other when the power is on.

3. The mobile laser cleaning machine according to claim 2, characterized in that: The cantilever suspension system (6) includes a main boom (61), a first folding arm (62), a second folding arm (63), and a third folding arm (64). The main boom (61) is vertically mounted on the chassis (8). The first folding arm (62) is hinged to the upper end of the main boom (61). The second folding arm (63) is hinged to the end of the first folding arm (62). The third folding arm (64) is hinged to the end of the second folding arm (63). An electromagnetic brake is provided between adjacent folding arms.

4. The mobile laser cleaning machine according to claim 3, characterized in that: The tail end of the cantilever suspension system (6) is provided with a counterweight component (9), and the main arm (61) is located between the counterweight component (9) and the hinge point of the first folding arm (62) and the second folding arm (63) to maintain the balance of the equipment when the folding arm is extended.

5. The mobile laser cleaning machine according to claim 1, characterized in that: The walking system (2) includes a battery and a drive motor, which is connected to the wheels on the chassis (8) via a transmission connection.

6. The mobile laser cleaning machine according to claim 1, characterized in that: The chassis (8) is equipped with a hydraulic lifting device (1) for lifting the chassis (8) and raising the wheels off the ground during operation, thereby improving the stability of the equipment.

7. The mobile laser cleaning machine according to claim 1, characterized in that: The dust collection system (4) includes a dust collection pipe (41), a fan and a filter assembly. The dust collection pipe (41) is connected to the cleaning head (31). A dust collection space is formed inside the filter assembly for collecting the dust.

8. The mobile laser cleaning machine according to claim 1, characterized in that: The cleaning head (31) is provided with a balancing device (10), which includes a spring reel and a balancing rope connected to the spring reel. The spring reel is fixed to the folding arm of the cantilever suspension system (6). One end of the balancing rope is connected to the spring reel, and the other end is connected to the cleaning head (31) to counteract part of the weight of the cleaning head (31).

9. The mobile laser cleaning machine according to claim 3, characterized in that: The control button for the electromagnetic brake is located at the tail end of the corresponding folding arm.

10. The mobile laser cleaning machine according to claim 1, characterized in that: It also includes a visual alarm module, which includes a camera and an alarm light, used to issue a warning when an obstacle or dangerous situation is detected.

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