CN108554938A - A kind of Intelligent Laser wash equipment and method for Nuclear Power Industry - Google Patents
A kind of Intelligent Laser wash equipment and method for Nuclear Power Industry Download PDFInfo
- Publication number
- CN108554938A CN108554938A CN201810601422.2A CN201810601422A CN108554938A CN 108554938 A CN108554938 A CN 108554938A CN 201810601422 A CN201810601422 A CN 201810601422A CN 108554938 A CN108554938 A CN 108554938A
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- China
- Prior art keywords
- laser
- integrated system
- galvanometer
- cleaning
- vehicle frame
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of Intelligent Laser wash equipments and method for Nuclear Power Industry.Including vehicle frame, the integrated manipulator, cleaning arm mechanism, laser fiber integrated system, the compression pump that are arranged on vehicle frame；It includes a mechanical arm to clean arm mechanism, and galvanometer integrated system is mounted on mechanical arm front end；The housing forward end of galvanometer integrated system has the cleaner head of an indent；Cleaner head passes through piping connection compression pump；This equipment pistol for rust removal can realize the cleaning functions such as metallic surface derusting, paint removal, be equipped compared to other away rust by laser, it can realize automated intelligent traction, intelligent recognition pollutant, determine dirt type；The features such as intelligent recognition substrate shapes, dirt thickness may be implemented, intelligence adjusts technological parameter and removes dirt；Accurate industrial robot is introduced, precise laser washing and cleaning operation under more extensive environment may be implemented；Man-machine remote control may be implemented, avoid the nuclear radiation in operation process.
Description
Technical field
The present invention relates to laser cleaning techniques more particularly to a kind of for the Intelligent Laser wash equipment of Nuclear Power Industry and side
Method.
Background technology
Nuclear industry operation, preventative maintenance, it is retired during the entire process of along with a large amount of huge structure surface decontamination
Related work, these huge parts dismountings are difficult, and have radioactivity.Using general laser cleaning equipment, regardless of portable
Formula laser cleaning equipment or automatic laser cleaning equipment have the shortcomings that respective.Portable laser cleaning equipment needs people deep
Enter scene, be easy to cause personnel by nuclear radiation, it is unhealthful.Automatic laser cleaning equipment needs part removing realization clearly
It washes, and in nuclear industry is all large-sized structural parts, be not easy to remove；Personnel are also easy to be endangered by nuclear pollution simultaneously.
Invention content
The shortcomings that it is an object of the invention to overcome the above-mentioned prior art and deficiency, provide it is a kind of it is simple in structure, using peace
The full Intelligent Laser wash equipment and method for being conveniently used for Nuclear Power Industry.
The present invention is achieved through the following technical solutions：
A kind of Intelligent Laser wash equipment for Nuclear Power Industry, including vehicle frame 3, are arranged the integrated control on vehicle frame 3
Device 9, cleaning arm mechanism 8, laser fiber integrated system 7, compression pump 5；
It includes a mechanical arm to clean arm mechanism 8, and galvanometer integrated system 11 is mounted on mechanical arm front end；Galvanometer integrated system 11
Housing forward end have an indent cleaner head 12；Cleaner head 12 passes through piping connection compression pump 5；
Laser fiber integrated system 7 connects galvanometer integrated system 11 by optic fibre light path；
Integrated manipulator 9 connects with laser fiber integrated system 7, galvanometer integrated system 11, cleaning arm mechanism 8, compression pump 5
It connects.
Cleaning arm mechanism 8 is industrial robot.
The upper end of mechanical arm is equipped with range finding probe 10, and range finding probe 10 connects integrated manipulator 9.
CCD vision detection systems 2 are installed above the front end of vehicle frame 3；The front end bottom side of vehicle frame 3 is equipped with path knowledge
Other inductor 4.
Operation method of the present invention for the Intelligent Laser wash equipment of Nuclear Power Industry is as follows：
Open laser fiber integrated system 7, galvanometer integrated system 11；
Integrated manipulator 9 guides vehicle frame 3 to be moved automatically on scheduled track；
CCD vision detection systems 2 are opened, open range finding probe 10, control range finding probe 10 is on frame movement path
Structural member is scanned, and determines the position of dirt and the type of dirt, convenient for further cleaning；
After CCD vision detection systems 2 detect the position of pollutant, integrated manipulator 9 guides 3 automatic running of vehicle frame to dirt
It contaminates at object；CCD vision detection systems 2 are sent to integrated control by the thickness information of type and dirt to image recognition dirt
Device 9 processed is handled, and exports laser cleaning parameter；
After obtaining laser cleaning parameter, the control cleaning of integrated manipulator 9 arm mechanism 8, galvanometer integrated system 11, compression pump 5
Operation, mechanical arm drive galvanometer integrated system 11 to move to designated position, and shoot laser, and then to pollutant surface clean.
The present invention compared with the existing technology, has the following advantages and effect：
Intelligent Laser wash equipment of the present invention can be in the environment with nuclear radiation certainly by the control of integrated manipulator 9
By moving, and the various information of pollutant can be detected automatically by CCD vision detection systems.
Intelligent Laser wash equipment of the present invention can identify the type and dirt of dirt by CCD vision detection systems
The information such as thickness, and automatically regulate by these information the parameter of laser cleaning.
Intelligent Laser wash equipment of the present invention can control laser, galvanometer, accurate work by CCD vision detection systems
Industry machine person cooperative work can automatically regulate the position of galvanometer and workpiece surface, adjust light extraction and cleaned.
Intelligent Laser wash equipment of the present invention, may be switched to manual operation pattern.
Description of the drawings
Fig. 1 is the overall structure diagram of Intelligent Laser wash equipment of the present invention.
Fig. 2 is the galvanometer scanning system structure chart of Intelligent Laser wash equipment of the present invention.
Specific implementation mode
The present invention is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figs. 1-2.The invention discloses a kind of Intelligent Laser wash equipment for Nuclear Power Industry, including vehicle frame 3,
Integrated manipulator 9, cleaning arm mechanism 8, laser fiber integrated system 7, the compression pump 5 being arranged on vehicle frame 3；
It includes a mechanical arm to clean arm mechanism 8, and galvanometer integrated system 11 is mounted on mechanical arm front end；Galvanometer integrated system 11
Housing forward end have an indent cleaner head 12；Cleaner head 12 passes through piping connection compression pump 5；
Laser fiber integrated system 7 connects galvanometer integrated system 11, mutual transfer laser by optic fibre light path；
Integrated manipulator 9 passes through with laser fiber integrated system 7, galvanometer integrated system 11, cleaning arm mechanism 8, compression pump 5
Signal wire connects, and 9 control mode of integrated manipulator is embedded Control.
Cleaning arm mechanism 8 is industrial robot, is wu-zhi-shan pig, is carried as 30KG.
The upper end of mechanical arm is equipped with range finding probe 10, and range finding probe 10 connects integrated manipulator 9, and connection type is
Signal wire connects, and is mainly interacted by electric signal.
CCD vision detection systems 2 are installed above the front end of vehicle frame 3, detecting system is mainly made of video camera,
Pixel is 4K；The front end bottom side of vehicle frame 3 is equipped with Path Recognition inductor 4.
The galvanometer integrated system 11 includes beam expanding lens 14, field lens 15, galvanometer driving motor 16, galvanometer 17.
The laser fiber integrated system 7 includes：Optical fiber laser is IPG pulse optical fibers, average laser power
For 100W, its main feature is that up time power is high, pulsewidth is short (100ns), and pulse energy is high, and peak power can reach 10KW., it is cooling
System, cooling system is to the cooling galvanometer head overheated.
Laser sends out laser 1, by laser conduction device, initially enters beam expanding lens 14, by beam expanding lens 14 so that shaking
Mirror surface and laser facula cross-sections match；Followed by galvanometer scanning system, it is mutually perpendicular to by the movement of galvanometer driving motor 16
Two pieces pendulum mirrors, the Surface scan of a shaped laser spot may be implemented；It is finally field lens, it can gather the laser in galvanometer system
Coke arrives parts to be processed surface, realizes flat focus.
Cleaner head 12, compression pump 5 are used cooperatively, can be by the metal powder generated in cleaning process discharge system as early as possible.
Arm mechanism 8 is cleaned, realizes that convenient degree and efficiency are cleaned in arbitrary motion in control laser head space, improving laser.
Pollutant in 2 automatic identification Nuclear Power Industry of CCD vision detection systems：Rusty scale, greasy dirt, spot etc..
Operation method of the present invention for the Intelligent Laser wash equipment of Nuclear Power Industry, can be achieved by the steps of：
Open laser fiber integrated system 7, galvanometer integrated system 11；
Integrated manipulator 9 guides vehicle frame 3 to be moved automatically on scheduled track；
CCD vision detection systems 2 are opened, open range finding probe 10, control range finding probe 10 is on frame movement path
Structural member is scanned, and determines the position of dirt and the type of dirt, convenient for further cleaning；
After CCD vision detection systems 2 detect the position of pollutant, integrated manipulator 9 guides 3 automatic running of vehicle frame to dirt
It contaminates at object；CCD vision detection systems 2 are sent to integrated control by the thickness information of type and dirt to image recognition dirt
Device 9 processed is handled, and exports laser cleaning parameter；
After obtaining laser cleaning parameter, the control cleaning of integrated manipulator 9 arm mechanism 8, galvanometer integrated system 11, compression pump 5
Operation, mechanical arm drive galvanometer integrated system 11 to move to designated position, and shoot laser, and then to pollutant surface clean.
As described above, the present invention can be better realized.
Embodiment of the present invention are not limited by the above embodiments, other any Spirit Essences without departing from the present invention
With under principle made by changes, modifications, substitutions, combinations, simplifications, should be equivalent substitute mode, be included in the present invention
Within protection domain.
Claims (5)
1. a kind of Intelligent Laser wash equipment for Nuclear Power Industry, it is characterised in that：Including vehicle frame (3), it is arranged in vehicle frame (3)
On integrated manipulator (9), cleaning arm mechanism (8), laser fiber integrated system (7), compression pump (5)；
It includes a mechanical arm to clean arm mechanism (8), and galvanometer integrated system (11) is mounted on mechanical arm front end；Galvanometer integrated system
(11) housing forward end has the cleaner head (12) of an indent；Cleaner head (12) passes through piping connection compression pump (5)；
Laser fiber integrated system (7) connects galvanometer integrated system (11) by optic fibre light path；
Integrated manipulator (9) and laser fiber integrated system (7), galvanometer integrated system (11), cleaning arm mechanism (8), compression pump
(5) it connects.
2. being used for the Intelligent Laser wash equipment of Nuclear Power Industry according to claim 1, it is characterised in that：Clean arm mechanism
(8) it is industrial robot.
3. being used for the Intelligent Laser wash equipment of Nuclear Power Industry according to claim 2, it is characterised in that：The upper end of mechanical arm
Portion is equipped with range finding probe (10), and range finding probe (10) connects integrated manipulator (9).
4. being used for the Intelligent Laser wash equipment of Nuclear Power Industry according to claim 3, it is characterised in that：Before vehicle frame (3)
CCD vision detection systems (2) are installed above end；The front end bottom side of vehicle frame (3) is equipped with Path Recognition inductor (4).
5. the operation method described in claim 4 for the Intelligent Laser wash equipment of Nuclear Power Industry, it is characterised in that including such as
Lower step：
Open laser fiber integrated system (7), galvanometer integrated system (11)；
Integrated manipulator (9) guiding vehicle frame (3) moves automatically on scheduled track；
CCD vision detection systems (2) are opened, open range finding probe (10), control range finding probe (10) is on frame movement path
Structural member be scanned, determine the position of dirt and the type of dirt, convenient for further cleaning；
After CCD vision detection systems (2) detect the position of pollutant, integrated manipulator (9) guides vehicle frame (3) automatic running extremely
At pollutant；CCD vision detection systems (2) are sent to collection by the thickness information of type and dirt to image recognition dirt
It is handled at controller (9), and exports laser cleaning parameter；
After obtaining laser cleaning parameter, integrated manipulator (9) control cleaning arm mechanism (8), galvanometer integrated system (11), compression pump
(5) operation, mechanical arm drive galvanometer integrated system (11) to move to designated position, and shoot laser, and then to pollutant surface
Cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810601422.2A CN108554938A (en) | 2018-06-12 | 2018-06-12 | A kind of Intelligent Laser wash equipment and method for Nuclear Power Industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810601422.2A CN108554938A (en) | 2018-06-12 | 2018-06-12 | A kind of Intelligent Laser wash equipment and method for Nuclear Power Industry |
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| Publication Number | Publication Date |
|---|---|
| CN108554938A true CN108554938A (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810601422.2A Pending CN108554938A (en) | 2018-06-12 | 2018-06-12 | A kind of Intelligent Laser wash equipment and method for Nuclear Power Industry |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109141105A (en) * | 2018-11-07 | 2019-01-04 | 深圳市大众新源节能科技有限公司 | A kind of air-conditioning condenser on-line cleaning system |
| CN109261650A (en) * | 2018-10-16 | 2019-01-25 | 武汉金顿激光科技有限公司 | A kind of laser cleaning system and its cleaning method of nuclear reactor tank body fused salt |
| CN110153107A (en) * | 2019-05-15 | 2019-08-23 | 大族激光科技产业集团股份有限公司 | Laser cleaning method, device and its system |
| CN110180839A (en) * | 2019-06-27 | 2019-08-30 | 清华大学 | A kind of laser cleaner and laser cleaning method |
| CN110548730A (en) * | 2019-09-10 | 2019-12-10 | 武汉武钢华工激光大型装备有限公司 | Laser cleaning device and method for aluminum alloy anodic oxide film and surface paint film composite layer |
| CN111495882A (en) * | 2020-04-24 | 2020-08-07 | 山东省科学院激光研究所 | Laser cleaning device |
| CN111790694A (en) * | 2020-07-10 | 2020-10-20 | 安徽富乐德科技发展股份有限公司 | Method for cleaning submicron pollution particles by laser |
| CN112207837A (en) * | 2019-07-12 | 2021-01-12 | 厦门佰欧环境智能科技有限公司 | Rust removal robot |
| CN113578871A (en) * | 2021-07-26 | 2021-11-02 | 贵州电网有限责任公司 | Laser rust removal and surface passivation modification device and method |
| CN114025891A (en) * | 2019-05-08 | 2022-02-08 | 埃克科林有限公司 | Cleaning device and cleaning method for cleaning a component |
| CN114749429A (en) * | 2022-04-14 | 2022-07-15 | 扬州洛天依智能装备有限公司 | Laser equipment for laser cleaning |
| CN114850140A (en) * | 2022-05-30 | 2022-08-05 | 内蒙古电力(集团)有限责任公司乌兰察布供电分公司 | Cleaning system for high-voltage isolating switch |
| CN114970632A (en) * | 2022-06-01 | 2022-08-30 | 长春理工大学 | Pollutant removing method and device based on multi-pulse laser |
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| CN105170573A (en) * | 2015-07-24 | 2015-12-23 | 苏州市星科四达激光科技有限公司 | Laser cleaning device and method of ink container |
| CN106540906A (en) * | 2016-11-25 | 2017-03-29 | 无锡市白马机械设备有限公司 | Possesses the cleaning equipment of solar electrical energy generation movement |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261650A (en) * | 2018-10-16 | 2019-01-25 | 武汉金顿激光科技有限公司 | A kind of laser cleaning system and its cleaning method of nuclear reactor tank body fused salt |
| CN109141105A (en) * | 2018-11-07 | 2019-01-04 | 深圳市大众新源节能科技有限公司 | A kind of air-conditioning condenser on-line cleaning system |
| CN114025891A (en) * | 2019-05-08 | 2022-02-08 | 埃克科林有限公司 | Cleaning device and cleaning method for cleaning a component |
| CN110153107A (en) * | 2019-05-15 | 2019-08-23 | 大族激光科技产业集团股份有限公司 | Laser cleaning method, device and its system |
| CN110180839A (en) * | 2019-06-27 | 2019-08-30 | 清华大学 | A kind of laser cleaner and laser cleaning method |
| CN110180839B (en) * | 2019-06-27 | 2021-01-26 | 清华大学 | Laser cleaning device and laser cleaning method |
| CN112207837A (en) * | 2019-07-12 | 2021-01-12 | 厦门佰欧环境智能科技有限公司 | Rust removal robot |
| CN110548730A (en) * | 2019-09-10 | 2019-12-10 | 武汉武钢华工激光大型装备有限公司 | Laser cleaning device and method for aluminum alloy anodic oxide film and surface paint film composite layer |
| CN111495882A (en) * | 2020-04-24 | 2020-08-07 | 山东省科学院激光研究所 | Laser cleaning device |
| CN111790694A (en) * | 2020-07-10 | 2020-10-20 | 安徽富乐德科技发展股份有限公司 | Method for cleaning submicron pollution particles by laser |
| CN113578871A (en) * | 2021-07-26 | 2021-11-02 | 贵州电网有限责任公司 | Laser rust removal and surface passivation modification device and method |
| CN114749429A (en) * | 2022-04-14 | 2022-07-15 | 扬州洛天依智能装备有限公司 | Laser equipment for laser cleaning |
| CN114850140A (en) * | 2022-05-30 | 2022-08-05 | 内蒙古电力(集团)有限责任公司乌兰察布供电分公司 | Cleaning system for high-voltage isolating switch |
| CN114970632A (en) * | 2022-06-01 | 2022-08-30 | 长春理工大学 | Pollutant removing method and device based on multi-pulse laser |
| CN114970632B (en) * | 2022-06-01 | 2024-05-10 | 长春理工大学 | Contaminant removal method and device based on multi-pulse laser |
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