CN107433395B - A kind of adaptive laser cleaner of folding optical path hand-held - Google Patents
A kind of adaptive laser cleaner of folding optical path hand-held Download PDFInfo
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- CN107433395B CN107433395B CN201710674372.6A CN201710674372A CN107433395B CN 107433395 B CN107433395 B CN 107433395B CN 201710674372 A CN201710674372 A CN 201710674372A CN 107433395 B CN107433395 B CN 107433395B
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
Abstract
The present invention provides a kind of adaptive laser cleaners of folding optical path hand-held, including lifting focusing component, laser range sensor, galvanometer scanning system, lifting guiding electricity to drive component and laser-folding light path system；The galvanometer scanning system is used for incident laser beam focus in workpiece surface, and makes laser beam by setting track in workpiece surface scanning motion；Lifting focusing component is provided with below the laser beam exits end of galvanometer scanning system, laser range sensor is installed in the side of galvanometer scanning system, laser-laser built in folding light path system, its output end is fixedly connected with the laser beam incidence end of galvanometer scanning system, so that laser-folding light path system outgoing laser beam becomes the incoming laser beam of galvanometer scanning system；Lifting guiding electricity drives component and laser-folding light path system bottom part down is arranged in.Laser and laser cleaning processing head are combined into one by the present invention, can effectively improve surface cleaning precision, quality and efficiency.
Description
Technical field
The invention belongs to laser cleaning fields, and in particular to a kind of adaptive laser cleaner of folding optical path hand-held.
Background technique
Cleaning is dirt, rust staining or the coating for material surface, brings it about moment steaming using chemically or physically principle
Hair or removing, that is, reach and remove subject surface attachment or surface covering, obtain clean material surface.
Current surface clean technology both domestic and external mainly has two class of chemical cleaning and physical cleaning.Chemical cleaning is mainly benefit
With the main chemical compositions in chemical reaction removal dirt, a large amount of acid, salt etc. are discharged when being not thorough and clean due to cleaning, it is both dirty
Dye environment corrodes equipment again, so the range of application is smaller.In contrast, physical cleaning method is to apply physics at dirt to make
So that it is fallen off with (such as heat, agitating friction, grinding, pressure), be mainly the following method:
1) Dry ice cleaning: it is used to clear up the grease and mixing attachment of various stubbornnesses using dry ice particles as ejection medium.
Studies have shown that Dry ice cleaning is applied to from metallics supernatant unless effect is the most obvious when metal contamination, therefore is largely used to
The organic residue or pollutant for cleaning precision component and mold are disadvantageous in that and are then difficult to clearly to obstinate metal oxide
It washes thoroughly.
2) gas blast cleans: generally using inert gas or nitrogen as working media, when being stored in closed container
When compressed gas is suddenly released, compressed gas will quickly flowing gas volume generation simultaneously be swollen outward by gas discharge outlet
Swollen, the vibration of generation and shock wave can shake off the pollutant of attachment on the surface of the material, leave material with compressed gas
Surface.Gas blast cleaning shows good performance, Boeing, Air Passenger for stains such as all kinds of ink, paint and coating
It is aircraft depainting in using gas blasting procedure cleaning technique etc. famous aeronautical manufacture company and United States Air Force, but it is insufficient
The problems such as place is that consumables cost is higher, cleaning depth is limited, deforms there are microscopic residual and mechanical stress.
3) Cleaning by High Pressure Water Jet: the high-speed water jet with very big penetration capacity by erosion, cuts, bursts apart, removes
Etc. principles remove high polymer, the water on the equipment such as various pipes, cold exchange device, container, reaction kettle, reaction tower and material surface
Dirt, deposit etc..In various washing and cleaning operations, cleaning by high pressure water jet technology is apparent at low cost, fast because having compared with other way
Many advantages, such as degree is fast, quality is high (cleaning rate up to 99% or more) and favored.Some essential industry departments, such as petroleum and petrochemical industry
Enterprise, sugar industry, thermal power plant etc. have promoted and applied the Technolgy of High Pressure Water jet Cleaning, and have achieved remarkable effect.But
It is that the important deficiency of Cleaning by High Pressure Water Jet is that a large amount of pollutions, toxic wastewater can be generated, and there is also microscopic residual and machines
The problems such as tool stress deformation.
4) ultrasonic cleaning: the penetrability and cavitation shock wave generated when being propagated in the medium using ultrasonic wave is removed to realize
Oil, antirust and phosphatization etc., fiting chemical reagent adjust the pH value of solution, have the characteristics that cleannes are high, cleaning speed is fast.It is super
Sound wave cleaning technique, which is disadvantageous in that, is limited to service sink equipment size, is generally only applicable in the workshop of small parts
Cleaning, it is difficult to accomplish the on-line cleaning of heavy parts, and can equally generate a large amount of pollutions, toxic wastewater.
Laser cleaning is a kind of new green environment protection surface clean technology of rising in recent years.It passes through no Mechanical Contact
Mode acts directly on laser in pollutant/oxide layer, makes pollutant that gasification, ablation, photodegradation directly occur, final real
The surface contaminant of existing controllable precise/oxide layer thin layer removal has cleaning quality height, no material consumption, high-efficient and do not generate dirt
Contaminate the outstanding advantages of waste water.Laser cleaning is without the use of any chemical agent and cleaning solution, and the waste material washed down is substantially all
It is solid powder, it is small in size, easily stored, recyclable, chemical cleaning bring problem of environmental pollution can be solved easily；Laser
It can be transmitted by optical fiber, be matched with mechanical hand and robot, conveniently realize remote-controlled operation, conventional method can be cleaned not
Readily accessible position, this uses the safety for the personnel that may insure in the place of some danger；Laser cleaning can remove various materials
The various types of pollutants for expecting surface, reach the cleannes routinely cleaned and be unable to reach.But also it can be in not attacking material
The selectively pollutant on cleaning material surface in the case where surface.Currently, laser cleaning has been successfully applied to carbon steel table
Face derusting, bronze class/stone matter class historical relic decontamination, aircraft surfaces paint removal, rubber mold surface removal of residue, printed circuit board cleaning
Etc. various fields.
However, at present laser cleaning equipment various on the market, however it remains many shortcomings:
1) most laser cleaning machine is handheld device, and control mode is completely dependent on operator and holds surface cleaning
Head, and reasonable focusing range of the laser beam in workpiece surface, low precision, physical strength are kept by human eye (or by range sensor)
It expends greatly, cleaning efficiency is not high.
2) surface cleaning, laser and laser cleaning processing head point are generally carried out using the pulse laser of optical fiber transmission
From the laser and laser cleaning processing head at both ends being coupled respectively by transmission fiber, due to transmission fiber own loss, limited
Maximum transmitted length, limited optical fiber minimum bending radius and fragility fiber coupling interface the problems such as so that optical fiber at
For the rapid wear product of such equipment, equipment normal service life is caused surface cleaning equipment depreciation cost to occupy high by extreme influence
Under not.
3) laser and laser cleaning processing head are merged into an entirety by the adverse effect for how eliminating transmission fiber,
Laser cleaner overall dimensions are controlled simultaneously, are the important technology problems that present laser cleaning field needs to solve.
Summary of the invention
The present invention in view of the above shortcomings of the prior art, provides a kind of laser and closes two with laser cleaning processing head and be
One, the adaptive laser cleaner of folding optical path hand-held of surface cleaning precision, quality and efficiency can be effectively improved.
The present invention is achieved through the following technical solutions:
A kind of adaptive laser cleaner of folding optical path hand-held, including lifting focusing component, laser range sensor,
Galvanometer scanning system, lifting guiding electricity drive component and laser-folding light path system；
The galvanometer scanning system for realizing by incident laser beam successively via motor-driven deflection scanning eyeglass
Reflection and fix-focus lens transmission after be emitted, focus on workpiece surface, and make laser beam by setting track workpiece surface into
Row scanning motion；Lifting focusing component is provided with below the laser beam exits end of galvanometer scanning system, in galvanometer scanning system
Side be fixedly installed with laser range sensor, lifting focusing component is for adjusting galvanometer scanning system exit end and workpiece table
To keep shoot laser beam to remain focused on the present laser beam scanning position of workpiece surface, laser ranging passes the relative distance in face
Sensor is used for the relative distance value of Real-time Feedback galvanometer scanning system and workpiece surface, and the adjusting campaign for lifting focusing component mentions
For controlling driving data；The laser beam of laser-laser built in folding light path system, output end and galvanometer scanning system enters
It penetrates end to be fixedly connected, so that laser-folding light path system outgoing laser beam becomes the incoming laser beam of galvanometer scanning system；
Lifting guiding electricity drives component and laser-folding light path system bottom part down is arranged in, and is used to support laser-folding optical path system
System.
Preferably, it is also equipped with a CCD industrial camera component in the side of galvanometer scanning system, visual field corresponds to galvanometer
The scanning range of the focusing processing plane of scanning system, is used for real-time monitoring laser cleaning quality；
Preferably, it is also equipped with a space angle gyroscope in the side of galvanometer scanning system, for detecting Current Scan
The spatial attitude tilt angle of processing head.
Preferably, laser-folding light path system includes the first fixing seat, the second fixing seat, beam converter, laser
Device, the first optical mirror, reflecting mirror locating rack, the second optical mirror, third optical mirror and bottom plate, the laser
For all solid state laser, the beam converter carries out optical transform for realizing the laser beam exported to laser, described to swash
Light device, the second optical mirror and third optical mirror are installed on bottom plate, beam converter by the first fixing seat and
Second fixing seat is fixedly mounted on beam converter mounting plate, and the beam converter mounting plate is mounted on by work shape bracket
On bottom plate；
The output end of third optical mirror face laser is arranged, the central axis of optical axis and laser output laser beam
Line is overlapped；Second optical mirror is oppositely arranged with third optical mirror, there is spacing between the two；First optical mirror is logical
It crosses reflecting mirror locating rack to be mounted on bottom plate, and is located at the top of the second optical mirror；First optical mirror, the second optics
The installation position of reflecting mirror and third optical mirror should make: the laser beam of laser output is incident to third optical reflection
Mirror is incident to the second optical mirror after the reflection of third optical mirror, incident after the reflection of the second optical mirror
It is exported opposite with former beam direction and spatial offset after the reflection of the first optical mirror to the first optical mirror
Reversed laser beam；It is incident to beam converter after the reversed laser beam, is exported after optical transform.
Preferably, the lifting focusing component includes supporting leg, three ear flanges, three ear muff cylinders, ladder bushing and angular contact
Ball bearing；It totally three groups of supporting leg, is fixedly mounted on three ear flanges by three bolts respectively；Ladder bushing and three ear muff cylinders are logical
It crosses internal and external threads connection and realizes coaxial cooperation, angular contact ball bearing is arranged between ladder bushing and three ear muff cylinders, upper surface
Contact ladder bushing axis rank end face, three ear muff cylinder inside bottom surface of following table face contact, and angular contact ball bearing outer ring, inner ring respectively with
The inner wall of three ear muff cylinders and the outside wall surface interference fit of ladder bushing, internal screw thread and the ladder bushing external screw thread of three ear flanges are matched
Close installation；
The supporting leg includes drive motor, protective cover, shaft coupling, ball-screw, feed screw nut group, quick connector, mark
Ruler pointer, lifter plate, blow-out nozzle, supporting leg bearing block and buphthalmos universal wheel, wherein buphthalmos universal wheel through hole is coupled
In the lower surface of supporting leg bearing block, protective cover is in U-shape, and two sides are equipped with scale, and upper surface is provided with through-hole, and bottom passes through three
Threaded hole is mounted on supporting leg bearing block, and ball-screw one end is coupled with the coaxial bearing in bearing block, the other end with
One end of shaft coupling connects, and the other end of upper surface through-hole and shaft coupling that the shaft of drive motor passes through protective cover, which cooperates, pacifies
Dress, ball-screw and feed screw nut group form ball-screw component, and lifter plate is in font, are divided into two layers, front and back is respectively equipped with two
A through-hole, centre are equipped with threaded hole, and previous through-hole through hole cooperation is assembled with feed screw nut group coaxial cooperation, the latter through-hole
It is assembled by coaxial cooperation on bolt and three ear flanges, threaded hole is vertically connected with two quick connectors, blow-out nozzle and lower section
Quick connector connects and is directed toward region to be processed, and scale pointer is mounted on lifter plate by the threaded hole that intermediate symmetry is arranged,
The symmetrically arranged arrow in two sides indicates respectively the scale on protective cover.
Preferably, galvanometer scanning system includes galvanometer protective shell, motor-driven deflection scanning eyeglass, fix-focus lens
Installation sleeve and fix-focus lens, deflection scanning eyeglass are fixed on galvanometer by positioning plate and protect on shell side wall, fixed focal length
Object lens installation sleeve is mounted on galvanometer protective shell bottom by being threadedly engaged, fix-focus lens and fix-focus lens installation set
Cylinder is by being threadedly engaged the coaxial assembly of realization.
Preferably, lifting guiding electricity drive component include manually adjust lifting assembly, lifting pedestal, work shape adapter,
Idler wheel, bearing block, driven wheel of differential, drive bevel gear, thread groove formula shaft coupling, electric machine support, servo motor, from mantle tooth
Wheel installation multi-diameter shaft, three groups of bearings and drive bevel gear install multi-diameter shaft；Lifting assembly is manually adjusted to be arranged on lifting pedestal
Surface, electric machine support and work shape adapter pass through threaded hole respectively and are fitted to lifting pedestal lower surface, under work shape adapter
End is connect with bearing block, and bearing block is a cube structure, three of them adjacent side is separately installed with three groups of bearings；From mantle tooth
Wheel installation multi-diameter shaft runs through bearing block, and side is coaxially equipped with driven wheel of differential；Idler wheel is a pair, is symmetricly set on from mantle tooth
Wheel installation multi-diameter shaft two sides；Servo motor through hole is fitted on electric machine support, and by thread groove formula shaft coupling and
Drive bevel gear installs multi-diameter shaft and drive bevel gear and realizes coaxially connected, and driven wheel of differential and drive bevel gear partner tooth
Wheel set.
Preferably, the lifting assembly that manually adjusts includes support plate, first connecting rod, second connecting rod, lead screw, two lead screws
Nut group, third connecting rod and fourth link, fourth link are centrally positioned in the upper surface of lifting pedestal, the second connecting rod,
Three-link is respectively a pair, is symmetricly set on fourth link two sides, third connecting rod one end and fourth link are hinged, the other end and second
One end of connecting rod and a feed screw nut group are hinged；The other end of second connecting rod and first connecting rod are hinged；Lead screw with
Feed screw nut group forms lead screw pair, and rotary motion is switched to move along a straight line, and then realizes the height for manually adjusting lifting assembly；Branch
Fagging is arranged above first connecting rod, and is mounted on laser-folding light path system lower section.
The invention has the following beneficial effects:
1, the adaptive laser cleaner of folding optical path hand-held of the invention, by by laser, transmission optical path and vibration
Scarnning mirror system combination is integrated, and realizes the Handheld laser cleaning device of non-fiber, there is no transmission fiber own loss,
It the problems such as fiber coupling interface of limited maximum transmitted length, limited optical fiber minimum bending radius and fragility, mentions significantly
Equipment normal service life is risen, surface cleaning equipment depreciation cost is reduced.
2, the adaptive laser cleaner of folding optical path hand-held of the invention uses and folds light path design, so that one
Beam converter is arranged to realize in the optical path by the existing sufficient space of aspect carries out normal optical to the laser beam that laser exports
Transformation (can be beam-expanding collimation, optical frequency-doubling, Energy distribution adjust (such as Gaussian Beam Transformation be flat top beam, Gaussian beam become
Be changed to bessel beam etc.) one of or multiple combinations), can be directed to different cleaning occasions, flexibly using different light beams become
The space-time characterisation parameter regulation realized to laser beam is changed, the precision and quality of laser cleaning is effectively improved, on the other hand makes again
Laser cleaner overall dimensions are compact small and exquisite, beautiful and generous, convenient for operation and carry；
3, the adaptive laser cleaner of folding optical path hand-held of the invention, using a variety of observing and controlling means and automatically
The supporting leg that motor adjusts lifting constitutes closed-loop control, and adaptive, the high-precision control of processing focal length may be implemented, and is not necessarily to
Operator undertakes whole processing head weight, significantly reduces manipulation strength, improves surface cleaning quality and efficiency.
4, the adaptive laser cleaner of folding optical path hand-held of the invention uses the supporting leg of three special designings
And universal wheel, each supporting leg can dismantle flexibly, independent control, both can be with for different types of workpiece and processing occasion
It realizes plane machining (three supporting legs are respectively provided with identical height, and determine processing plane) at 3 points, oblique surface machining (three also may be implemented
Different height is arranged in a supporting leg), abnormal-shape ditch face processing (three supporting leg automated programmings liftings)；Operator can also be flexible
Using the mode of operation of single leg, both legs, three legs, cooperate hand-held attitude regulation, realize various particular orientations, dovetail groove face it is clear
Wash processing.
5, the adaptive laser cleaner of folding optical path hand-held of the invention uses closed light channel structure, is provided with
Inflatable body enhances cleaning effect, is also provided with dust collection mechanism simultaneously and most of flue dust is made to be synchronized to collect, both protected and added
Foreman also protects the works fine environment of operator from pollution.
6, the adaptive laser cleaner of folding optical path hand-held of the invention, the self-supporting walking mechanism also used, three
The universal rolling mechanism of the supporting leg bottom of a special designing, mainly carries the moiety by weight of whole equipment, can be according to hand
It is moved in the path pushed away；It is also provided with automatic lifting guiding electricity simultaneously and drives component, mechanism matches with universal rolling, works as servo
, it can be achieved that the autonomous of whole device advances and retreat when motor carries out positive and negative rotation；It, can be in addition, be also provided with CCD detection system
Cleaning process is monitored and closed loop feedback.It therefore, can in conjunction with path planning, the posture automatic regulating function of control software
To realize the adaptive cleaning processing of the adaptive laser cleaner of folding optical path hand-held.
Detailed description of the invention
Fig. 1 is the overall structure figure of the present invention for folding the adaptive laser cleaner of optical path hand-held；
Fig. 2 is the structure chart of lifting focusing component；
Fig. 3 is the sectional view of three ear sleeve parts；
Fig. 4 is the structure chart of supporting leg；
Fig. 5 is the structure chart of galvanometer scanning system；
Fig. 6 is the structure chart that lifting guiding electricity drives component；
Fig. 7 is the structure chart for manually adjusting lifting assembly；
Fig. 8 is the structure chart of bearing block；
Fig. 9 is laser-folding light path system structure chart；
The meaning of each label is as follows in figure:
Lifting focusing component 1, CCD industrial camera component 2, laser range sensor 3, galvanometer scanning system 4, space angle
Gyroscope 5, work shape flange 6, sheet metal shell 7, lifting guiding electricity drive component 8, handle 10, supporting leg 101, three ear flanges 102, spiral shell
Bolt 103, three ear muff cylinders 104, ladder bushing 105, angular contact ball bearing 106, drive motor 10101, protective cover 10102, shaft coupling
Device 10103, ball-screw 10104, the second feed screw nut group 10105, quick connector 10106, scale pointer 10107, lifter plate
10108, blow-out nozzle 10109, supporting leg bearing block 10110, buphthalmos universal wheel 10111, galvanometer protective shell 401, deflection scanning
Eyeglass 402, fix-focus lens 404, manually adjusts lifting assembly 801, lifting pedestal at fix-focus lens installation sleeve 403
802, work shape adapter 803, idler wheel 804, bearing block 805, driven wheel of differential 806, drive bevel gear 807, thread groove formula connection
Axis device 808, electric machine support 809, servo motor 810, driven wheel of differential installation multi-diameter shaft 811, bearing 812, support plate 8011, the
One connecting rod 8012, second connecting rod 8013, lead screw 8014, the first feed screw nut group 8015, third connecting rod 8016, fourth link
8017, the first fixing seat 901, the second fixing seat 902, beam converter 903, laser 904, the first optical mirror 905, anti-
Penetrate mirror locating rack 906, the second optical mirror 907, third optical mirror 908, beam converter mounting plate 909, work shape branch
Frame 910, bottom plate 911.
Specific embodiment
The present invention will be further described in detail with reference to the accompanying drawings and detailed description.
As shown in figs 1-9, the present invention provides a kind of adaptive laser cleaners of folding optical path hand-held, including lifting
Focusing component 1, laser range sensor 3, galvanometer scanning system 4, lifting guiding electricity drive component 8 and laser-folding optical path system
System.
The galvanometer scanning system 4 for realizing by incident laser beam successively via motor-driven deflection scanning eyeglass
Reflection and fix-focus lens transmission after be emitted, focus on workpiece surface, and make laser beam by setting track workpiece surface into
Row scanning motion；Lifting focusing component 1 is provided with below the laser beam exits end of galvanometer scanning system 4, in vibration mirror scanning system
The side of system 4 is fixedly installed with laser range sensor 3, lifting focusing component 1 for adjust 4 exit end of galvanometer scanning system with
The relative distance of workpiece surface is swashed with keeping shoot laser beam to remain focused on the present laser beam scanning position of workpiece surface
The relative distance value of ligh-ranging sensor 3 then Real-time Feedback galvanometer scanning system 4 and workpiece surface, for lifting focusing component 1
It adjusts movement and control driving data is provided；Laser-laser, output end and galvanometer scanning system built in folding light path system
4 laser beam incidence end is fixedly connected, so that laser-folding light path system outgoing laser beam becomes galvanometer scanning system 4
Incoming laser beam.
Lifting guiding electricity drives component 8 and laser-folding light path system bottom part down is arranged in, and is used to support laser-
Light path system is folded, due to laser-folding light path system and galvanometer scanning system 4, galvanometer scanning system 4 and lifting focus group
It is to be fixedly connected with relationship between part 1, when lifting focusing component 1 adjusts the phase of galvanometer scanning system 4 exit end and workpiece surface
When adjusting the distance, lifting guiding electricity drives component 8 and corresponding cooperation is adjusted laser-folding light path system height, to keep the folding
The whole machine balancing of the folded adaptive laser cleaner of optical path hand-held, undertakes processing head weight without operator.
Preferably, it is also equipped with a CCD industrial camera component 2 in the side of galvanometer scanning system 4, visual field corresponds to vibration
The scanning range of the focusing processing plane of scarnning mirror system 4, is used for real-time monitoring laser cleaning quality.
Preferably, it is also equipped with a space angle gyroscope 5 in the side of galvanometer scanning system 4, is currently swept for detecting
The spatial attitude tilt angle for retouching processing head can be according to detecting when carrying out surface cleaning to known inclined-plane or shaped face
The spatial attitude tilt angle (that is, angle of galvanometer scanning system) of processing head, thus artificial real-time contrast adjustment and control vibration
Mirror tilts certain space angle, carries out cleaning scanning with determining spatial attitude, to guarantee that side wall or bottom can be cleaned to.
Laser-folding light path system outside is provided with sheet metal shell 7 in the present embodiment, and sheet metal shell 7 passes through work shape
Flange 6 is connect with galvanometer scanning system 4, and the top of sheet metal shell 7 is equipped with convenient for two hand-held handles 10, i.e. operator can
It is led with integrally lifting, moving or substituting lifting for the folding adaptive laser cleaner of optical path hand-held by two handles 10
The effect of component 8 is driven to electricity.
Concretely, the lifting focusing component 1 includes supporting leg 101, three ear flanges 102, three ear muff cylinders 104, ladder
Sleeve 105 and angular contact ball bearing 106.Totally three groups of supporting leg 101, three ear methods are fixedly mounted on by three bolts 103 respectively
On orchid 102.Ladder bushing 105 is connect by internal and external threads with three ear muff cylinders 104 and realizes coaxial cooperation, angular contact ball bearing 106
It is arranged between ladder bushing 105 and three ear muff cylinders 104, upper surface contacts 105 axis rank end face of ladder bushing, following table face contact
Three ear muff cylinders, 104 inside bottom surface, and 106 outer ring of angular contact ball bearing, the inner ring inner wall and ladder with three ear muff cylinders 104 respectively
The outside wall surface of sleeve 105 is interference fitted, and internal screw thread and 105 external screw thread of ladder bushing of three ear flanges 102 are coupled.
The supporting leg 101 include drive motor 10101, protective cover 10102, shaft coupling 10103, ball-screw 10104,
Second feed screw nut group 10105, quick connector 10106, scale pointer 10107, lifter plate 10108, blow-out nozzle 10109, branch
Support leg bearing block 10110 and buphthalmos universal wheel 10111, wherein 10111 through hole of buphthalmos universal wheel is fitted to supporting leg axis
The lower surface of seat 10110 is held, protective cover 10102 is in U-shape, and two sides are equipped with scale, and upper surface is provided with through-hole, and bottom passes through three
Threaded hole is mounted on supporting leg bearing block 10110, and 10104 one end of ball-screw is matched with the coaxial bearing in bearing block 10111
Installation is closed, the other end is connect with one end of shaft coupling 10103, and the shaft of drive motor 10101 passes through the upper table of protective cover 10102
Face through-hole and the other end of shaft coupling 10103 are coupled, and ball-screw 10104 and the second feed screw nut group 10105 composition roll
Ballscrew component, lifter plate 10108 are in 8-shaped, are divided into two layers, and front and back is respectively equipped with two through-holes, and centre is equipped with threaded hole, preceding
One through-hole through hole cooperation is assembled with 10105 coaxial cooperation of the second feed screw nut group, and the latter through-hole passes through bolt 103 and three
Coaxial cooperation is assembled on ear flange 102, and threaded hole is vertically connected with two quick connectors 10106, blow-out nozzle 10109 and lower section
Quick connector 10106 connects and is directed toward region to be processed, and scale pointer 10107 is mounted on by the threaded hole that intermediate symmetry is arranged
On lifter plate 10108, the symmetrically arranged arrow in two sides indicates respectively the scale on protective cover 10101 herein.
Galvanometer scanning system 4 includes galvanometer protective shell 401, (single shaft is one-dimensional or double for motor-driven deflection scanning eyeglass 402
Axis two dimension), fix-focus lens installation sleeve 403 and fix-focus lens 404 (F-theta mirror or telecentric objective), deflection is swept
It retouches eyeglass 402 to be fixed on 401 side wall of galvanometer protective shell by positioning plate, fix-focus lens installation sleeve 403 passes through screw thread
It is fitted to 401 bottom of galvanometer protective shell, fix-focus lens 404 and fix-focus lens installation sleeve 403 pass through screw thread
Coaxial assembly is realized in cooperation.Three ear muff cylinders 104 and 404 coaxial cooperation of fix-focus lens in the lifting focusing component 1, and
Through hole is fitted to 401 lower surface of galvanometer protective shell.
It includes manually adjusting lifting assembly 801, lifting pedestal 802, work shape adapter that the lifting guiding electricity, which drives component 8,
803, idler wheel 804, bearing block 805, driven wheel of differential 806, drive bevel gear 807, thread groove formula shaft coupling 808, motor branch
Frame 809, servo motor 810, driven wheel of differential installation 811, three groups of bearings 812 of multi-diameter shaft and drive bevel gear install multi-diameter shaft.
The setting of lifting assembly 801 is manually adjusted to pass through respectively in 802 upper surface of lifting pedestal, electric machine support 809 and work shape adapter 803
Threaded hole is fitted to 802 lower surface of lifting pedestal, and 803 lower end of work shape adapter is connect with bearing block 805, bearing block 805
For a cube structure, three of them adjacent side is separately installed with three groups of bearings 812.Driven wheel of differential installation multi-diameter shaft 811 passes through
Bearing block 805 is worn, side is coaxially equipped with driven wheel of differential 806.Idler wheel 804 is a pair, is symmetricly set on driven wheel of differential peace
Fill 811 two sides of multi-diameter shaft.810 through hole of servo motor is fitted on electric machine support 809, and passes through thread groove formula shaft coupling
Device 808 and drive bevel gear installation multi-diameter shaft realize coaxially connected, driven wheel of differential 806 and initiative taper with drive bevel gear 807
Gear 807 partners gear pair, when servo motor 810 carries out positive and negative rotation, it can be achieved that lifting guiding electricity drive component 8 advance with
It retreats.
The lifting assembly 801 that manually adjusts includes support plate 8011, first connecting rod 8012, second connecting rod 8013, lead screw
8014, two the first feed screw nut groups 8015, third connecting rod 8016 and fourth link 8017, fourth link 8017 are centrally positioned in
The upper surface of lifting pedestal 802, the second connecting rod 8013, third connecting rod 8016 are respectively a pair, are symmetricly set on fourth link
8017 two sides, 8016 one end of third connecting rod and fourth link 8017 are hinged, one end and one of the other end and second connecting rod 8013
A first feed screw nut group 8015 is hinged；The other end and first connecting rod 8012 of second connecting rod 8013 are hinged.Lead screw
8014 and first feed screw nut group 8015 form lead screw pair, rotary motion is switched to move along a straight line, so realize manually adjust liter
It comes down to a lower group the height of part 801.Support plate 8011 is arranged above first connecting rod 8012, and is mounted on laser-folding light path system
Lower section.
Laser-folding light path system includes the first fixing seat 901, the second fixing seat 902, beam converter 903, laser
Device 904, the first optical mirror 905, reflecting mirror locating rack 906, the second optical mirror 907,908 and of third optical mirror
Bottom plate 911, the laser 904 are all solid state laser, and beam converter 903 realizes the laser beam exported to laser 904
Carry out normal optical transformation, can be beam-expanding collimation, optical frequency-doubling, Energy distribution adjust (such as Gaussian Beam Transformation be flat-top light
Beam, Gaussian Beam Transformation are bessel beam etc.) one of or multiple combinations, the laser 904, the second optical mirror
907 and third optical mirror 908 be installed on bottom plate 911, beam converter 903 pass through the first fixing seat 901 and second
Fixing seat 902 is fixedly mounted on beam converter mounting plate 909, and the beam converter mounting plate 909 passes through work shape bracket
910 are mounted on bottom plate 911.
The output end of 908 face laser 904 of third optical mirror is arranged, and optical axis and laser 904 export laser
The central axis of beam is overlapped；The lower section of third optical mirror 908 be equipped with U-lag, by bolt cooperate realize position adjustment with
It is fixed, so that the central axis of its mirror surface and 904 outgoing laser beam of laser is in 45 degree of angles.Second optical mirror 907 with
Third optical mirror 908 is oppositely arranged, at regular intervals between the two；First optical mirror 905 is positioned by reflecting mirror
Frame 906 is mounted on bottom plate 911, and is located at the top of the second optical mirror 907.First optical mirror 905, the second optics
The installation position of reflecting mirror 907 and third optical mirror 908 should make: the laser beam that laser 904 exports is incident to third
Optical mirror 908 is incident to the second optical mirror 907 after the reflection of third optical mirror 908, anti-through the second optics
After penetrating the reflection of mirror 907, it is incident to the first optical mirror 905, after the reflection of the first optical mirror 905, output and original
Beam direction is opposite and the reversed laser beam of spatial offset.It is incident to beam converter 903 after the reversed laser beam,
It is exported after optical transform.
The above-mentioned adaptive laser cleaner of folding optical path hand-held, includes numerous standard optical elements, is such as transferred anti-
Penetrate mirror, beam converter (can be conventional beam-expanding collimation, optical frequency-doubling, Energy distribution adjust (such as Gaussian Beam Transformation is flat
Top light beam, Gaussian Beam Transformation are bessel beam etc.) one of or multiple combinations), polarization scans eyeglass, focusing objective len etc.
Deng unless otherwise noted, being required to its optical lens seat with attitude-adjusting system, so that laser beam is along each optical element standard work
Make the incidence of central optical axis direction and outgoing of state.
The working principle of the above-mentioned adaptive laser cleaner of folding optical path hand-held are as follows:
The laser beam that laser 904 exports is incident to third optical mirror 908, through the anti-of third optical mirror 908
It is incident to the second optical mirror 907 after penetrating, after the reflection of the second optical mirror 907, is incident to the first optical mirror
905, after the reflection of the first optical mirror 905, export opposite with former beam direction and spatial offset reversed laser
Beam.It is incident to beam converter 903 after the reversed laser beam, is exported after optical transform, then after galvanometer scanning system
It focuses on material surface and completes laser cleaning processing.
In process, component 8 can be driven by lifting focusing component 1, laser range sensor 3 and lifting guiding electricity
Closed-loop control and driving so that the laser beam that galvanometer scanning system 4 is emitted remains focused on the present laser beam of workpiece surface
Plane machining (three of lifting focusing component 1 had both may be implemented for different types of workpiece and processing occasion in scan position
Supporting leg 101 is respectively provided with identical height, and 3 points determine processing plane), oblique surface machining also may be implemented and (go up and down focusing component 1
Different heights are arranged in three supporting legs 101), the processing of abnormal-shape ditch face (compile automatically by three supporting legs 101 of lifting focusing component 1
Journey lifting), lifting guiding electricity drives component 8 and corresponding cooperation is adjusted laser-folding light path system height, to keep the folding
The whole machine balancing of the adaptive laser cleaner of optical path hand-held undertakes processing head weight without operator；Operator
It can cooperate hand-held attitude regulation flexibly using the mode of operation of single leg, both legs, three legs, realize various particular orientations, dovetail ditch
The surface cleaning of groove face.
In process, inflatable body enhancing cleaning effect can be opened simultaneously, the present invention can also add dust collection mechanism,
So that most of flue dust that cleaning generates is synchronized to collect, CCD industrial camera component 2 can also be opened, cleaning process is supervised
Control and closed loop feedback realize that the folding optical path hand-held is adaptive in conjunction with path planning, the posture automatic regulating function of control software
Stress light cleaning apparatus adaptive cleaning processing.
The present invention can be changed apparent to one skilled in the art for various ways, and such change is not considered as
It departs from the scope of the present invention.The technical staff in the field is obviously modified as all, is included within this right
Within the scope of it is required that.
Claims (7)
1. a kind of adaptive laser cleaner of folding optical path hand-held, which is characterized in that including lifting focusing component (1), swash
Ligh-ranging sensor (3), galvanometer scanning system (4), lifting guiding electricity drive component (8) and laser-folding light path system；
The galvanometer scanning system (4) is for realizing successively anti-via motor-driven deflection scanning eyeglass by incident laser beam
It penetrates and is emitted with after fix-focus lens transmission, focus on workpiece surface, and carry out laser beam in workpiece surface by setting track
Scanning motion；Lifting focusing component (1) is provided with below the laser beam exits end of galvanometer scanning system (4), in vibration mirror scanning
The side of system (4) is fixedly installed with laser range sensor (3), and lifting focusing component (1) is for adjusting galvanometer scanning system
(4) relative distance of exit end and workpiece surface is swept with the present laser beam for keeping shoot laser beam to remain focused on workpiece surface
Position is retouched, laser range sensor (3) is used for the relative distance value of Real-time Feedback galvanometer scanning system (4) and workpiece surface, is
The adjusting campaign of lifting focusing component (1) provides control driving data；Laser-laser built in folding light path system, it is defeated
Outlet is fixedly connected with the laser beam incidence end of galvanometer scanning system (4), so that laser-folding light path system output laser
The incoming laser beam of Shu Chengwei galvanometer scanning system (4)；Lifting guiding electricity drives component (8) and is arranged in laser-folding optical path system
The bottom part down of system is used to support laser-folding light path system；
The laser-folding light path system includes the first fixing seat (901), the second fixing seat (902), beam converter
(903), laser (904), the first optical mirror (905), reflecting mirror locating rack (906), the second optical mirror (907),
Third optical mirror (908) and bottom plate (911), the laser (904) are all solid state laser, the beam converter
(903) optical transform is carried out for realizing the laser beam exported to laser (904), the laser (904), the second optics are anti-
It penetrates mirror (907) and third optical mirror (908) is installed on bottom plate (911), beam converter (903) is fixed by first
Seat (901) and the second fixing seat (902) are fixedly mounted on beam converter mounting plate (909), the beam converter installation
Plate (909) is mounted on bottom plate (911) by work shape bracket (910)；
The output end of third optical mirror (908) face laser (904) is arranged, and optical axis and laser (904) output swash
The central axis of light beam is overlapped；Second optical mirror (907) is oppositely arranged with third optical mirror (908), between the two
There is spacing；First optical mirror (905) is mounted on bottom plate (911) by reflecting mirror locating rack (906), and is located at the second light
Learn the top of reflecting mirror (907)；First optical mirror (905), the second optical mirror (907) and third optical mirror
(908) installation position should make: the laser beam of laser (904) output is incident to third optical mirror (908), through third
The second optical mirror (907), the reflection through the second optical mirror (907) are incident to after the reflection of optical mirror (908)
Afterwards, the first optical mirror (905) are incident to, after the reflection of the first optical mirror (905), output and former beam direction
On the contrary and the reversed laser beam of spatial offset；Beam converter (903) are incident to after the reversed laser beam, are become through optics
It is exported after changing.
2. the adaptive laser cleaner of folding optical path hand-held according to claim 1, which is characterized in that swept in galvanometer
The side for retouching system (4) is also equipped with a CCD industrial camera component (2), and visual field corresponds to the focusing of galvanometer scanning system (4)
The scanning range of plane is processed, real-time monitoring laser cleaning quality is used for.
3. the adaptive laser cleaner of folding optical path hand-held according to claim 1, which is characterized in that swept in galvanometer
The side for retouching system (4) is also equipped with a space angle gyroscope (5), and the spatial attitude for detecting Current Scan processing head is inclined
Rake angle.
4. the adaptive laser cleaner of folding optical path hand-held according to claim 1, which is characterized in that the lifting
Focusing component (1) includes supporting leg (101), three ear flanges (102), three ear muff cylinders (104), ladder bushing (105) and angular contact
Ball bearing (106)；It totally three groups of supporting leg (101), is fixedly mounted on three ear flanges (102) by three bolts (103) respectively；
Ladder bushing (105) is connect by internal and external threads with three ear muff cylinders (104) and realizes coaxial cooperation, and angular contact ball bearing (106) is set
It sets between ladder bushing (105) and three ear muff cylinders (104), upper surface contacts ladder bushing (105) axis rank end face, lower surface
Three ear muff cylinder (104) inside bottom surfaces are contacted, and angular contact ball bearing (106) outer ring, inner ring are interior with three ear muff cylinders (104) respectively
The outside wall surface of wall surface and ladder bushing (105) interference fit, the internal screw thread and ladder bushing (105) outer spiral shell of three ear flanges (102)
Line is coupled；
The supporting leg (101) includes drive motor (10101), protective cover (10102), shaft coupling (10103), ball-screw
(10104), the second feed screw nut group (10105), quick connector (10106), scale pointer (10107), lifter plate (10108),
Blow-out nozzle (10109), supporting leg bearing block (10110) and buphthalmos universal wheel (10111), wherein buphthalmos universal wheel (10111)
Through hole is fitted to the lower surface of supporting leg bearing block (10110), and protective cover (10102) is in U-shape, and two sides are equipped with mark
Ruler, upper surface are provided with through-hole, and bottom is mounted on supporting leg bearing block (10110) by three threaded holes, ball-screw
(10104) one end is coupled with the coaxial bearing in bearing block (10111), and one end of the other end and shaft coupling (10103) connects
It connects, the shaft of drive motor (10101) passes through the upper surface through-hole of protective cover (10102) and the other end of shaft coupling (10103)
It is coupled, ball-screw (10104) and the second feed screw nut group (10105) form ball-screw component, lifter plate (10108)
In (8) font, be divided into two layers, front and back is respectively equipped with two through-holes, and centre is equipped with threaded hole, previous through-hole through hole cooperation with
The assembly of second feed screw nut group (10105) coaxial cooperation, the latter through-hole pass through same on bolt (103) and three ear flanges (102)
Axis cooperation assembly, threaded hole are vertically connected with two quick connectors (10106), the quick connector of blow-out nozzle (10109) and lower section
(10106) it connects and is directed toward region to be processed, scale pointer (10107) is mounted on lifting by the threaded hole that intermediate symmetry is arranged
On plate (10108), the symmetrically arranged arrow in two sides indicates respectively the scale on protective cover (10101).
5. the adaptive laser cleaner of folding optical path hand-held according to claim 1, which is characterized in that vibration mirror scanning
System (4) includes galvanometer protective shell (401), motor-driven deflection scanning eyeglass (402), fix-focus lens installation sleeve
(403) and fix-focus lens (404), deflection scanning eyeglass (402) are fixed on galvanometer protective shell (401) side wall by positioning plate
On, fix-focus lens installation sleeve (403) is mounted on galvanometer protective shell (401) bottom, fixed focal length object by being threadedly engaged
Mirror (404) realizes coaxial assembly by being threadedly engaged with fix-focus lens installation sleeve (403).
6. the adaptive laser cleaner of folding optical path hand-held according to claim 1, which is characterized in that the lifting
It includes manually adjusting lifting assembly (801), lifting pedestal (802), work shape adapter (803), idler wheel that guiding electricity, which drives component (8),
(804), bearing block (805), driven wheel of differential (806), drive bevel gear (807), thread groove formula shaft coupling (808), motor
Bracket (809), servo motor (810), driven wheel of differential installation multi-diameter shaft (811), three groups of bearings (812) and drive bevel gear peace
Fill multi-diameter shaft；Lifting assembly (801) setting is manually adjusted to turn in lifting pedestal (802) upper surface, electric machine support (809) and work shape
Fitting (803) is fitted to lifting pedestal (802) lower surface, work shape adapter (803) lower end and axis by threaded hole respectively
Seat (805) connection is held, bearing block (805) is a cube structure, three of them adjacent side is separately installed with three groups of bearings
(812)；Driven wheel of differential installs multi-diameter shaft (811) and runs through bearing block (805), and side is coaxially equipped with driven wheel of differential (806)；
Idler wheel (804) is a pair, is symmetricly set on driven wheel of differential installation multi-diameter shaft (811) two sides；Servo motor (810) through hole is matched
Conjunction is mounted on electric machine support (809), and installs multi-diameter shaft and master by thread groove formula shaft coupling (808) and drive bevel gear
Dynamic bevel gear (807) is realized coaxially connected, and driven wheel of differential (806) and drive bevel gear (807) partner gear pair.
7. the adaptive laser cleaner of folding optical path hand-held according to claim 6, which is characterized in that described manual
Adjusting lifting assembly (801) includes support plate (8011), first connecting rod (8012), second connecting rod (8013), lead screw (8014), two
A first feed screw nut group (8015), third connecting rod (8016) and fourth link (8017), fourth link (8017) are centrally located
In the upper surface of lifting pedestal (802), the second connecting rod (8013), third connecting rod (8016) are respectively a pair, are symmetricly set on
Fourth link (8017) two sides, third connecting rod (8016) one end and fourth link (8017) hingedly, the other end and second connecting rod
(8013) one end and a first feed screw nut group (8015) is hinged；The other end of second connecting rod (8013) and
One connecting rod (8012) is hinged；Lead screw (8014) and the first feed screw nut group (8015) form lead screw pair, and rotary motion is switched to directly
Line movement, and then realize the height for manually adjusting lifting assembly (801)；Support plate (8011) is arranged on first connecting rod (8012)
Side, and it is mounted on laser-folding light path system lower section.
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| CN108480847A (en) * | 2018-05-23 | 2018-09-04 | 深圳市中昌探伤器材有限公司 | The laser cleaning plant and method on extraordinary bearing device surface |
| CN108625441A (en) * | 2018-06-11 | 2018-10-09 | 西南交通大学 | A kind of kitchen waste disposer of energy-saving full-automatic |
| CN108687058B (en) * | 2018-07-18 | 2024-02-27 | 深圳市汇泽激光科技有限公司 | Portable laser cleaning handheld terminal and laser cleaning equipment |
| CN109866531B (en) * | 2019-02-26 | 2021-01-22 | 王程豪 | Chalk handwriting erasing device and application |
| CN112495941B (en) * | 2020-11-10 | 2022-06-21 | 江苏大学 | Remote laser cleaning system |
| CN112676267B (en) * | 2020-12-10 | 2022-05-31 | 中国科学院半导体研究所 | Pulse laser cleaning method |
| CN112894179B (en) * | 2021-01-14 | 2023-05-19 | 郑州市天正科技发展有限公司 | Ox horn ring hanger and laser processing equipment |
| CN112934857A (en) * | 2021-01-27 | 2021-06-11 | 南昌市彦畅机电科技有限公司 | Laser cleaning device for aircraft skin |
| CN113210361B (en) * | 2021-05-27 | 2022-02-22 | 中国工程物理研究院激光聚变研究中心 | Automatic focusing laser cleaning output device and output method |
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| DE19945238A1 (en) * | 1999-09-21 | 2001-03-22 | Laser & Med Tech Gmbh | High-powered neodymium YAG laser for cleaning surfaces has tripod and alignment system for collimation of coherent light beam on surface to be processed |
| CN203992825U (en) * | 2014-03-28 | 2014-12-10 | 湖北百一科技发展有限公司 | For the Handheld laser bundle output device of laser cleaning system |
| EP3138636A1 (en) * | 2015-09-03 | 2017-03-08 | Haas Food Equipment GmbH | Assembly for the purification of baking surfaces |
| CN205659939U (en) * | 2016-05-30 | 2016-10-26 | 武汉市杰都易光电科技有限公司 | Aircraft skin paint removal laser cleaning system |
| CN205762741U (en) * | 2016-06-17 | 2016-12-07 | 苏州艾思兰光电有限公司 | Clean and use Handheld laser output device |
| CN106694471A (en) * | 2016-12-07 | 2017-05-24 | 上海临仕激光科技有限公司 | Laser cleaning method and cleaning device for inner wall of pipeline |
| CN106984596B (en) * | 2017-04-25 | 2023-06-06 | 重庆金樾光电科技有限公司 | Laser cleaning machine and control method thereof |
| CN107020276A (en) * | 2017-06-12 | 2017-08-08 | 吉林省长光瑞思激光技术有限公司 | A kind of laser cleaning system and laser cleaning method |
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