CN107413772A - A kind of laser focal adaptive cleaning line - Google Patents
A kind of laser focal adaptive cleaning line Download PDFInfo
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- CN107413772A CN107413772A CN201710247703.8A CN201710247703A CN107413772A CN 107413772 A CN107413772 A CN 107413772A CN 201710247703 A CN201710247703 A CN 201710247703A CN 107413772 A CN107413772 A CN 107413772A
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- conveyer belt
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- cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- Optics & Photonics (AREA)
- Laser Beam Processing (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of laser focal adaptive cleaning line, including switch board, velometer, range unit, turn back device, work handling device, pattern recognition device and laser focal self-checking device, a kind of laser focal adaptive cleaning line of the present invention passes through the collection to workpiece information, movement velocity including workpiece, present position, highly, surface quality and resemblance, realize that laser galvanometer head accomplishes that depth of focus adjusts in real time according to different workpiece features, to height disunity, the skimble-scamble workpiece surface of resemblance carries out the flexible matching cleaning of different parts, contrasting detection before and after being carried out to the workpiece surface quality after cleaning；Automaticity of the present invention is high, applied widely, and reliable technical scheme is provided to focus the cleaning way of depth in laser cleaning field in real time.
Description
Technical field
The present invention relates to machinery equipment field, more particularly, to a kind of laser focal adaptive cleaning line.
Background technology
Laser cleaning surpasses with traditional mechanical friction cleaning, chemical attack cleaning, the cleaning of liquid solid brute force attack, high frequency
The Conventional cleaning methods such as sound cleaning are compared, and laser cleaning is the cleaning method of a kind of " environmental protection ".Laser cleaning, which need not use, appoints
What chemical agent and cleaning fluid, pollution will not be produced to environment；Laser cleaning need not be produced with body surface and contacted, will not be right
Cleaning of objects surface produces mechanicals efforts, damages body surface；Laser cleaning can remove the various types of of various material surfaces
The pollutant of type, and cleannes are high；Laser cleaning is constantly extended with the cleaning method of its " environmental protection ", application.
Chinese patent《A kind of liftable cleaning platform component and its and laser cleaning equipment》(publication number：
CN106238411, publication date：2016.12.21) disclose a kind of liftable cleaning platform component and its and laser cleaning set
It is standby, the liftable cleaning platform component and its and laser cleaning equipment lifting can manually be adjusted according to the height of workpiece
Regulation handle, drive cleaning platform to slide up and down, laser cleaning is carried out to workpiece surface.It is disadvantageous in that needs are artificial right
Its hoistable platform is adjusted, and can not carry out depth of focus according to the height of workpiece and automatically adjust, cause cleaning efficiency low, need people
Work aids in.
Chinese patent《Automatic laser cleaning equipment》(publication number：CN105666753A, publication date：2016.06.15) open
A kind of automatic laser cleaning equipment, described automatic laser cleaning equipment can be by machine vision Automatic-searching die locations simultaneously
It is transmitted to manipulator servo-control system and carries out die location positioning.It, which is disadvantageous in that, to be carried out according to mould oneself height
Laser generator position automatically adjusts, and causes laser spot can not focus to cleaning workpiece surface, can not complete cleaning.
Chinese patent《One kind automation cleaning line》(publication number：CN106216320A, publication date：2016.12.14) open
A kind of automation cleaning line, a kind of described automation cleaning line, it uses ultrasonic wave cleaning way, workpiece can be carried out clear
Simultaneously flash baking is washed, it is disadvantageous in that matting is complicated and cleaning process is also easy to produce water pollution, causes cleaning efficiency low
And pollution is produced to environment.
Chinese patent《Workpiece cleans line》(publication number：CN102861709A, publication date：2013.01.09 one kind) is disclosed
Workpiece cleans line, and described workpiece cleaning line, it uses ultrasonic wave cleaning way, and workpiece can be cleaned, and dries and eliminates
Stress, it, which is disadvantageous in that in cleaning process, needs by turning transporting device repeatedly turn to and convey, and causes to turn to
Conveying device fault rate is high, workpiece is cannot be introduced into next step matting.
In summary, current laser cleaning equipment generally existing laser focal depth can not be according to the table of workpiece to be cleaned
Face highly automatically adjusts, and causes the problems such as cleaning workpiece size is single, and workpiece features are single；Existing workpiece cleaning line is general
All over ultrasonic wave cleaning way is used, there is that cleaning line cost is too high, and matting is complicated, efficiency is low and environmental pollution etc. is asked
Topic.
The content of the invention
It can not be automatically adjusted for the laser focal of above-mentioned laser cleaning equipment according to the height of workpiece to be cleaned
Problem, present invention aims at a kind of laser focal adaptive cleaning line is provided, laser focal is deep during realizing laser cleaning
Degree is highly adjusted in real time according to workpiece surface, and size list can only be cleaned by solving a cleaning line in laser cleaning field
One, the technical problem of the single workpiece of feature.
The content of the invention
In order to solve the above technical problems, the invention provides following technical scheme：
A kind of laser focal adaptive cleaning line is by switch board, velometer, range unit, device of turning back, workpiece transmission dress
Put, pattern recognition device and laser focal self-checking device composition, described switch board is arranged on below conveyer belt, tested the speed
Device, range unit, pattern recognition device, laser focal self-checking device and device of turning back are arranged on biography by fixing device
Send the lateral surface of belt supporting frame, velometer is arranged on the lateral surface of belt support right-hand member, and range unit is along velometer left side side
The top of conveyer belt I is arranged on to by rangefinder support, laser focal self-checking device is arranged on belt support lateral surface
Middle part, two groups of pattern recognition devices are arranged on the two of the automatic focal length adjustment device of laser focal by camera support respectively
Side, device of turning back are arranged on the lateral surface of belt support left end.
Described velometer is fixed on the lateral surface of belt support, the fifth wheel of velometer and the upper surface of conveyer belt I
Tangent, the motion of conveyer belt I drives the fifth wheel of velometer to rotate and tested the speed, and by the setting of speed measuring device, makes the control be
System can obtain movement velocity and position of the workpiece on conveyer belt I in real time.
Described range unit is made up of rangefinder support, rangefinder, and rangefinder support is arranged on the outside of belt support
Face, rangefinder are arranged on the top of conveyer belt I by rangefinder support, by the setting of range unit, enable control system real-time
The height of workpiece to be cleaned is obtained, motor message is provided for laser focal self-checking device.
Described device of turning back fixed block II, location switch V, baffle plate, is pushed cylinder I, stop cylinder, arrived by push cylinder II
Bit switch IV, fixed block I are formed, and push cylinder I, location switch IV, stop cylinder are successively set on conveyer belt branch by fixed block I
The lateral surface of frame left end, push cylinder II, location switch V are arranged on the right-hand member lateral surface of belt support, gear by fixed block II
Plate is arranged on above the right-hand end of conveyer belt II, and by the setting for device of turning back, systemic presupposition mark is not met to cleaning quality
Accurate workpiece is turned back cleaning operation again.
Described work handling device is by the motor of conveyer belt II, belt support, conveyer belt II, conveyer belt I, work
Part, the motor of conveyer belt I are formed, and switch board is arranged on the lower section of conveyer belt I, and conveyer belt I is mutually contour parallel with conveyer belt II
Setting, the motor of conveyer belt I is the power source of conveyer belt I, and the motor of conveyer belt II is the power source of driving conveyer belt II,
Surface, conveyer belt drive workpiece motion s, by the setting of work handling device, workpiece is facilitated workpiece setting on a moving belt
The position that workpiece is transported to each needs.
Described pattern recognition device is by location switch I, camera I, the support of camera I, camera II, location switch III, camera
II support is formed, and the support of camera I is arranged on belt support lateral surface, and camera I is arranged on conveyer belt I by the support of camera I
Side, the support of camera II are arranged on belt support lateral surface, and camera II is arranged on the top of conveyer belt I, phase by the support of camera II
A through hole is provided with below the support of machine II, location switch I is fixed through through hole and using the locking device of itself, known by image
The setting of other device, control system is obtained the resemblance and cleaning workpiece surface quality of workpiece in real time, be laser focal
Self-checking device and device of turning back provide motor message.
Described laser focal self-checking device is flat by connecting plate, Y-direction motion platform, laser galvanometer head, Z-direction lifting
Platform, Z-direction hoistable platform motor, location switch II, Y-direction motion platform motor, shaft coupling I, slider I, shaft coupling II,
Sliding block II, sliding block III are formed, and Z-direction hoistable platform is arranged on the lateral surface of the support of conveyer belt I and hung down with the upper surface of conveyer belt I
Directly, Z-direction hoistable platform motor is arranged on the upper surface of Z-direction hoistable platform, the motor shaft of Z-direction hoistable platform motor with
Shaft coupling I is connected, and slider I activity is arranged on Z-direction hoistable platform internal drive screw mandrel, and connecting plate is arranged on the upper of slider I
Surface is moved simultaneously with slider I, Y-direction motion platform by connecting plate be arranged on Z-direction hoistable platform side wall and with conveyer belt I
Surface is parallel, and Y-direction motion platform carries out oscilaltion campaign, the driving of Y-direction motion platform by connecting plate with Z-direction hoistable platform
Motor is arranged on Y-direction motion platform end, and the motor shaft of Y-direction motion platform motor is connected with shaft coupling II, sliding block II, sliding
On the drive lead screw being arranged on inside Y-direction motion platform of the activity of block III, laser galvanometer head is arranged on above Y-direction motion platform,
Laser galvanometer head lower surface is connected with the upper surface of sliding block II and sliding block III and be arranged in parallel with the upper surface of conveyer belt I, and laser shakes
Camera lens is moved forward and backward by sliding block II, sliding block III with Y-direction motion platform, passes through setting for laser focal self-checking device
Put, the control signal for enabling laser galvanometer head to be sent according to control system completes corresponding operation.
As a result of above technical scheme, a kind of laser focal adaptive cleaning line of the invention has advantages below：
(1) workpiece surface to be cleaned height is obtained using industrial sensor, make during laser cleaning laser galvanometer head with
Workpiece surface to be cleaned remains suitable depth of focus, can improve laser utilization to the full extent, ensures cleaning quality
And cleaning degree.
(2) accurate judgement is made to workpiece surface feature using pattern recognition device, realized to different workpieces different parts
Flexibility matching cleaning, coordinating operation is carried out without manually or mechanically hand, is reduced artificial and equipment input, is improved laser
Clean the automaticity of line.
(3) surface quality comparison is carried out to the workpiece after the completion of cleaning using pattern recognition device, cleaning quality is not conformed to
The workpiece of lattice is turned back and cleaned again, it is ensured that the cleaning quality of workpiece.
(4) motion mode being combined using Z-direction motion platform and Y-direction motion platform, laser galvanometer head is enable to realize pair
Complex part surface carries out cleaning operation.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of laser focal adaptive cleaning line provided in an embodiment of the present invention.
Fig. 2 is a kind of overall left view of laser focal adaptive cleaning line provided in an embodiment of the present invention.
Fig. 3 is a kind of overall rearview of laser focal adaptive cleaning line provided in an embodiment of the present invention.
Fig. 4 is the schematic diagram of automatic rising-sinking platform provided in an embodiment of the present invention.
【Reference】
Switch board (1)；Push cylinder II (2)；The motor of conveyer belt II (3)；Fixed block II (4)；Belt support (5)；
Location switch V (6)；Conveyer belt II (7)；Baffle plate (8)；Conveyer belt I (9)；Velometer (10)；Rangefinder support (11)；Open in place
Close I (12)；Rangefinder (13)；Camera I (14)；The support of camera I (15)；Connecting plate (16)；Y-direction motion platform (17)；Laser shakes
Camera lens (18)；Z-direction hoistable platform (19)；Z-direction hoistable platform motor (20)；Workpiece (21)；Location switch II (22)；Camera
Ⅱ(23)；Location switch III (24)；The support of camera II (25)；Push cylinder I (26)；Stop cylinder (27)；Location switch IV (28)；
Fixed block I (29)；The motor of conveyer belt I (30)；Y-direction motion platform motor (31)；Shaft coupling I (32)；Slider I
(33)；Shaft coupling II (34)；Sliding block II (35)；Sliding block III (36).
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；It is attached in order to more preferably illustrate the present embodiment
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features explanations, which may be omitted, in accompanying drawing will be understood by.
Embodiment
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " installation ", " connects in description of the invention
Connect ", " setting ", the term such as " fixation " should broadly understood.For the ordinary skill in the art, can be according to specific
Situation understands concrete meaning of the above-mentioned term in the present invention.
The dirt that the present invention treats cleaning workpiece surface using laser is purged operation, utilizes velocity sensor, distance
Sensor, pattern recognition device are obtained and analyzed to the height of workpiece, position, surface characteristics information, complete laser focal
The Auto-matching of depth and workpiece surface height to be cleaned.
A kind of main technique of laser focal adaptive cleaning line includes：Workpiece surface elevation information to be cleaned obtains, and treats
Cleaning workpiece surface characteristics acquisition of information is simultaneously analyzed, and laser focal automatically adjusts operation, and workpiece surface quality is examined after the completion of cleaning
Survey.
Workpiece surface elevation information to be cleaned, which obtains, to be referred to after workpiece to be cleaned is placed in into conveyer belt upper surface, works as conveyer belt
When workpiece is sent to below range sensor, range sensor measures at once to the height of workpiece, and by metrical information
Control system is sent to, completes the operation that workpiece surface elevation information to be cleaned obtains.
After workpiece surface characteristic information to be cleaned obtains and analyzes and refer to workpiece to be cleaned being placed in conveyer belt upper surface, when
When workpiece is sent to below range sensor by conveyer belt, pattern recognition device carries out photographing operation to workpiece surface at once, and
By the information transmission for acquisition of taking pictures to control system, control system is analyzed the pictorial information sent in real time, analysis
After send control instruction to laser focal self-checking device, complete workpiece surface characteristic information to be cleaned and obtain and analyze
Operation.
Laser focal automatically adjusts operation and refers to control system by range sensor, velocity sensor and pattern recognition device
The information analysis sent, the control instruction sent after analysis and the adjustment campaign of laser galvanometer head carried out.
Workpiece surface quality detection refers to that the workpiece motion s after the completion of cleaning fill to second image recognition after the completion of cleaning
When putting lower section, pattern recognition device carries out photographing operation to workpiece surface at once, and the information transmission for acquisition of taking pictures extremely is controlled
System, control system are analyzed the pictorial information sent in real time, and control instruction is sent after analysis to dress of turning back
Put, complete the operation of workpiece surface quality detection after cleaning.
Specific embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings.
Embodiment 1
The action that a kind of laser focal adaptive cleaning line of the present invention is all is sent by the control system in switch board 1
Control signal, when laser focal adaptive cleaning line is started working, the motor 30 of conveyer belt I and the motor of conveyer belt II
3 remain operating, so as to which conveyer belt I 9 and conveyer belt II 7 remain operating condition, when workpiece 21 moves to rangefinder 13
During lower section, rangefinder 13 carries out height detection to workpiece 21 and the elevation information obtained is sent into control system, control system
System sends the Z-direction hoistable platform motor 20 in control signal to laser focal self-checking device, and now, Z-direction lifting is flat
Platform 19 will drive Y-direction motion platform 17 and laser galvanometer first 18 to move；When workpiece 21 moves to I 14 lower section of camera, open in place
Close I and detected workpiece 21 below camera I 14, now, camera I 14 is taken pictures to it, and the workpiece 21 obtained is special
Reference breath is sent to control system, and control system will make calculating according to the optical range that goes out of laser galvanometer first 18, judges whether to need
Motor message is sent to Y-direction motion platform motor 31, if workpiece configurations size is more than the light extraction of laser galvanometer first 18
Scope, then motor message is sent to Y-direction motion platform motor 31, it is on the contrary then do not send control signal, when workpiece 21 is transported
During row 18 lower section first to laser galvanometer, location switch II detects workpiece 21, and now, laser galvanometer first 18 has adjusted burnt to laser
Away from depth correct position and start cleaning, Y-direction motion platform 17 then makes respective party according to the control signal of control system
To motion, the cleaning of workpiece 21, which finishes, moves to the lower section of camera II 23, and location switch III 24 has detected workpiece 21, camera II 23
It is taken pictures, and the surface information of workpiece 21 that finishes of having cleaned of acquisition is sent to control system, control system docking
The information received carries out analysis calculating, judges whether to reach systemic presupposition cleaning quality standard, if workpiece 21 cleans surface matter
Amount reaches systemic presupposition quality standard, then workpiece continues to travel forward with conveyer belt I 9, matting is completed, if workpiece table
Face cleaning quality does not meet preset quality standard through system judgement, then control system control stop cylinder 27 cylinder rod stretches out, when
When location switch IV 28 has detected workpiece 21, workpiece is pushed to conveyer belt II 7, workpiece motion s to baffle plate 8 by push cylinder I 26
When, location switch V 6 has detected workpiece, and workpiece is pushed to conveyer belt I 9 by push cylinder II 2, and workpiece 21 will carry out one again again
Secondary cleaning, so far, whole laser cleaning flow, which is told about, to be finished.
It the foregoing is only the general embodiment of patent of the present invention, the equalization that every scope of the present invention patent is done
Change and modification, it should all belong to the covering scope of patent of the present invention.
Claims (4)
- A kind of 1. laser focal adaptive cleaning line, it is characterised in that：A kind of laser focal adaptive cleaning line is by switch board, survey Fast device, range unit, device of turning back, work handling device, pattern recognition device and laser focal self-checking device composition, institute The switch board (1) stated is arranged on below conveyer belt, and velometer, range unit, pattern recognition device, laser focal automatically adjust dress Device of putting and turn back is arranged on the lateral surface of belt support (5) by fixing device, and velometer is arranged on belt support (5) lateral surface of right-hand member, range unit are arranged on conveyer belt I (9) along velometer left direction by rangefinder support (11) Top, laser focal self-checking device are arranged on belt support (5) lateral surface middle part, two groups of pattern recognition devices point The both sides of the automatic focal length adjustment device of laser focal are not arranged on by camera support, device of turning back is arranged on belt support (5) lateral surface of left end；Described velometer (10) is fixed on the lateral surface of belt support (5), fifth wheel and the conveyer belt I of velometer (10) (9) upper surface is tangent, and the motion of conveyer belt I (9) drives the fifth wheel of velometer (10) to rotate and tested the speed；Described range unit is made up of rangefinder support (11), rangefinder (13), and rangefinder support (11) is arranged on conveyer belt Support (5) lateral surface, rangefinder (13) are arranged on above conveyer belt I (9) by rangefinder support (11)；Described device of turning back is by push cylinder II (2), fixed block II (4), location switch V (6), baffle plate (8), push cylinder I (26), Stop cylinder (27), location switch IV (28), fixed block I (29) are formed, and push cylinder I (26), location switch IV (28), stop gas Cylinder (27) is successively set on the lateral surface of belt support (5) left end, push cylinder II (2), location switch by fixed block I (29) V (6) is arranged on the right-hand member lateral surface of belt support (5) by fixed block II (4), and baffle plate (8) is arranged on conveyer belt II (7) Above right-hand end.
- A kind of 2. laser focal adaptive cleaning line according to claim 1, it is characterised in that：Work handling device is by passing Send the motor of band II (3), belt support (5), conveyer belt II (7), conveyer belt I (9), workpiece (21), conveyer belt I drives electricity Machine (30) is formed, and switch board (1) is arranged on below conveyer belt I (9), and conveyer belt I (9) is mutually contour parallel with conveyer belt II (7) Set, the motor of conveyer belt I (30) is the power source of conveyer belt I (9), and the motor of conveyer belt II (3) is driving conveyer belt The power source of II (7), workpiece (21) are arranged on conveyer belt upper surface, and conveyer belt drives workpiece motion s.
- A kind of 3. laser focal adaptive cleaning line according to claim 1, it is characterised in that：Pattern recognition device by Bit switch I (12), camera I (14), the support of camera I (15), camera II (23), location switch III (24), the support of camera II (25) Form, the support of camera I (15) is arranged on belt support (5) lateral surface, and camera I (14) is arranged on by the support of camera I (15) Above conveyer belt I (9), the support of camera II (25) is arranged on belt support (5) lateral surface, and camera II (23) passes through II, camera Frame (25) is arranged on above conveyer belt I (9), and a through hole is provided with below the support of camera II (25), and location switch I (12) passes through logical Hole is simultaneously fixed using the locking device of itself.
- A kind of 4. laser focal adaptive cleaning line according to claim 1, it is characterised in that：Laser focal automatically adjusts Device is driven by connecting plate (16), Y-direction motion platform (17), laser galvanometer head (18), Z-direction hoistable platform (19), Z-direction hoistable platform Dynamic motor (20), location switch II (22), Y-direction motion platform motor (31), shaft coupling I (32), slider I (33), shaft coupling Device II (34), sliding block II (35), sliding block III (36) are formed, and Z-direction hoistable platform (19) is arranged on the lateral surface of belt support (5) And it is vertical with the upper surface of conveyer belt I (9), Z-direction hoistable platform motor (20) is arranged on the upper end of Z-direction hoistable platform (19) Face, the motor shaft of Z-direction hoistable platform motor (20) are connected with shaft coupling I (32), and slider I (33) activity is arranged on Z-direction On hoistable platform (19) internal drive screw mandrel, connecting plate (16) is arranged on upper surface and slider I (33) same luck of slider I (33) It is dynamic, Y-direction motion platform (17) by connecting plate (16) be arranged on Z-direction hoistable platform (19) side wall and with conveyer belt I (9) upper table Face is parallel, and Y-direction motion platform (17) carries out oscilaltion campaign, Y-direction fortune by connecting plate (16) with Z-direction hoistable platform (19) Moving platform motor (31) is arranged on Y-direction motion platform (17) end, the motor shaft of Y-direction motion platform motor (31) with Shaft coupling II (34) connects, sliding block II (35), and sliding block III (36) activity is arranged on the internal driving wire of Y-direction motion platform (17) On bar, laser galvanometer head (18) is arranged on above Y-direction motion platform (17), laser galvanometer head (18) lower surface and sliding block II (35) Connect with the upper surface of sliding block III (36) and be arranged in parallel with conveyer belt I (9) upper surface, laser galvanometer head (18) passes through sliding block II (35), sliding block III (36) is moved forward and backward with Y-direction motion platform (17).
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| CN201710247703.8A CN107413772B (en) | 2017-04-19 | 2017-04-19 | Laser focal length self-adaptation cleaning line |
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| CN201710247703.8A CN107413772B (en) | 2017-04-19 | 2017-04-19 | Laser focal length self-adaptation cleaning line |
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| CN109521727A (en) * | 2018-12-29 | 2019-03-26 | 苏州富润泽激光科技有限公司 | Control method for laser cleaning control software |
| CN110899251A (en) * | 2019-11-22 | 2020-03-24 | 歌尔股份有限公司 | Laser cleaner and laser cleaning method |
| CN111822446A (en) * | 2020-06-28 | 2020-10-27 | 济南金威刻科技发展有限公司 | Automatic focusing type laser cleaning machine |
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