CN109201634A

CN109201634A - A kind of new pattern laser cleaning device

Info

Publication number: CN109201634A
Application number: CN201811100772.7A
Authority: CN
Inventors: 张萌
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-20
Filing date: 2018-09-20
Publication date: 2019-01-15

Abstract

The present invention relates to a kind of cleaning device, especially a kind of new pattern laser cleaning device belongs to laser cleaning technique field.Including supporting mechanism, X-axis movement mechanism, Y-axis movement mechanism, Z axis movement mechanism, laser cleaning device, clamping device, regulating mechanism, baffle, universal wheel；Control system of the invention according to cleaning path automatically control the first driving motor, the second driving motor, the coordinated movement of various economic factors of third driving motor come respectively drive X-axis movement mechanism, Y-axis movement mechanism, Z axis movement mechanism linear motion come drive laser cleaning device laser cleaning head complete cleaning task.Control system automatically determines cleaning path by the image before analysis laser cleaning, can effectively improve working efficiency；Wash result is judged by the image after analysis laser cleaning, carries out a cleaning task again if wash result is unqualified, until qualified, it is ensured that obtain ideal cleaning effect, cleaning effect is good.

Description

A kind of new pattern laser cleaning device

Technical field

The present invention relates to a kind of cleaning device, especially a kind of new pattern laser cleaning device belongs to laser cleaning technique neck Domain.

Background technique

Traditional industry mainly includes chemical agent cleaning and mechanical cleaning to the mode that metal works clean.With people Increasingly reinforcement to environmental protection and awareness of safety, requirement of the China to industry environmental protection is also higher and higher, in meet the requirement of environmental protection In the case where, the chemical agent type that can be used in industrial production cleaning is fewer and fewer.Mechanical cleaning is clear using contact It washes, has mechanicals efforts to cleaned material surface, be easy to damage the surface layer of cleaned material, be also easy to produce secondary pollution, and The metallic dust that contact cleaning generates is easy to be sucked by worker, influences the health of worker.Laser cleaning have without grinding, It is non-contact, without fuel factor, suitable for the cleaning of various material body surfaces, be most reliable, most effective metal cleaning way.

Currently, laser has begun the cleaning of metal surface and is applied in the industrial production, but due to laser with The control requirement of the distance between cleaned material surface is very high, and enforcement difficulty is larger, therefore laser cleaning is difficult to be suitable for surface not Smooth metal works, it is also difficult to be widely used to promote.Handheld laser washer in the market, due to by its structure Limitation, cleaning breadth is smaller, and cleaning efficiency is lower, is not applied for the cleaning of large area；And Handheld laser washer with The distance between cleaning surface is not easy accurately to control, and leads to that cleaning is uneven, cleaning effect is poor, and the requirement of people is much not achieved； Large-scale laser cleaning equipment volume is larger, is not easy to move.Therefore, how to provide a kind of easy to remove and be suitable for surface not The new pattern laser cleaning device of smooth metal works is those skilled in the art's technical problem urgently to be resolved.

Summary of the invention

In view of this, the technical problems to be solved by the present invention are: how to provide a kind of easy to remove and be suitable for surface The new pattern laser cleaning device of the metal works of out-of-flatness.The technical scheme adopted is as follows:

A kind of new pattern laser cleaning device, including supporting mechanism, X-axis movement mechanism, Y-axis movement mechanism, Z axis fitness machine Structure, laser cleaning device, clamping device, regulating mechanism, baffle, universal wheel；The supporting mechanism includes bottom plate, supporting sleeve, One sliding slot, rectangular channel, second sliding slot, the bottom plate upper surface setting move horizontally crossbeam for installing there are two disposed in parallel First sliding groove, the bottom plate upper surface is additionally provided with one and is located between two first sliding grooves for reducing crossbeam is moved horizontally The rectangular channel of frictional force between bottom plate, the bottom plate upper surface, which is also set up, is used for installation activity clamping plate there are two disposed in parallel Second sliding slot, bottom plate lower end surface setting there are four the supporting sleeve for being used for installation and adjustment mechanism, the first sliding groove Cross section is T shape, and the cross section of the second sliding slot is L shape.

The X-axis movement mechanism includes the first driving motor, moves horizontally crossbeam, first gear, the first rack gear, and described the One driving motor is that stepper motor and being fixedly mounted on moves horizontally on crossbeam, and the output end of first driving motor passes through water The first through hole of flat moving beam is connected by key with first gear, and the first gear and the first rack gear are intermeshed, described First rack gear is fixedly mounted on the bottom plate of supporting mechanism, first cunning for moving horizontally crossbeam and being slidably mounted on supporting mechanism In slot, the first gear is slided by moving horizontally crossbeam in first sliding groove with the drive of the gear motion of the first rack gear, into And it realizes laser cleaning device and moves in the X-axis direction.

The Y-axis movement mechanism includes the second driving motor, mobile sliding block, second gear, the second rack gear, and described second drives Dynamic motor is stepper motor and is fixedly mounted on mobile sliding block that the mobile sliding block is slidably mounted on vertical shift crossbeam, Second driving motor is connected by key with second gear, and the second gear passes through the rectangular through-hole and second of mobile sliding block Rack gear intermeshing, second rack gear is mounted in the rectangle mounting groove of vertical shift crossbeam, the second gear by with The gear motion of second rack gear drives mobile sliding block to slide on vertical shift crossbeam, and then realizes laser cleaning device along Y-axis side To movement.

The Z axis movement mechanism includes third driving motor, vertical shift crossbeam, third gear, third rack gear, support Frame, bracket screw, the third driving motor are stepper motor and are fixedly mounted on vertical shift crossbeam that the third drives The second through-hole that the output end of motor passes through vertical shift crossbeam is connected by key with third gear, the third gear and third Rack gear intermeshing, the third rack gear are fixedly mounted on the support frame, and the vertical shift crossbeam is slidably mounted on support frame On, support frame as described above is fixedly mounted on the moving horizontally on crossbeam of X-axis movement mechanism by bracket screw, and the third gear is logical It crosses and drives vertical shift crossbeam to slide on the support frame with the gear motion of third rack gear, and then realize laser cleaning device along Z axis Direction movement.

The laser cleaning device includes workbench, control system, laser cleaning head, position sensor, laser spot tracking System, imaging sensor, alarm device, mounting screw, the laser cleaning head include laser, scanning galvanometer, field lens, described to swash Light device output end is connect with scanning galvanometer, and the scanning galvanometer output end is connect with field lens, and the workbench passes through mounting screw It is mounted on the mobile sliding block of Y-axis movement mechanism, the control system, laser cleaning head, alarm device are respectively mounted on the table Surface, the position sensor, laser spot tracing system, imaging sensor are installed in workbench front end side, the control System processed, alarm device are separately mounted to the left and right sides of laser cleaning head, the position sensor, laser spot tracing system, Imaging sensor is sequentially arranged at from left to right among the side of workbench front end；The laser cleaning head, position sensor, laser Focus tracing system, imaging sensor, alarm device are connect with control system by conducting wire or signal respectively, the first driving electricity Machine, the second driving motor, third driving motor are connect with control system by conducting wire respectively, and the laser is optical fiber laser For emitting laser, the scanning galvanometer is used to that laser is accurately positioned, and the field lens is used to be focused optical fiber, institute Stating position sensor is photoelectric sensor, for detecting the whether clamped gear grips of object to be cleaned, and will test result biography It is defeated by controller system, the laser spot tracing system includes focus measurement unit, feedback display unit, the focus measurement Unit is connect with the feedback display unit by conducting wire, and the focus measurement unit is used to measure swashing for laser cleaning head output The distance between optical focus and object to be cleaned information, the feedback display unit are used to obtain distance letter from focus measurement unit Breath, and the numerical value of real-time display distance, described image sensor is for obtaining object to be cleaned before laser cleaning and laser Image after cleaning, and image information is transferred to control system, the alarm device is used for according to control system to laser cleaning The judging result of image is alarmed afterwards, and the control system is driven for controlling the first driving motor, the second driving motor, third The movement and stopping of dynamic motor, the control system are also used to judge the testing result of position sensor, determine to clear Whether washing body enters cleaning area, if object to be cleaned enters cleaning area, controls laser cleaning head and treats cleaning of objects Carry out laser cleaning, the control system be also used to analyze imaging sensor acquisition laser cleaning before and laser cleaning after Image determines cleaning path by the image before analysis laser cleaning, by the image after analysis laser cleaning to wash result Judged, the control system is also used to control alarm device and is alarmed according to wash result, and the control system is also used to It adjusts the distance between body surface to be cleaned in real time by laser spot tracing system, it is made to remain at optimal clean Distance keeps ideal cleaning effect, improves cleaning efficiency.

The clamping device includes support base, hollow thread set, drive screw, delta connection, ambulatory splint, the support Seat is mounted on the bottom plate of supporting mechanism by screw, and the hollow thread set is connected in support base upper end and the two is integral type The inner cylinder face of structure, the hollow thread set is provided with common coarse thread, and the drive screw is mounted on hollow thread set Interior and between the two to be threadedly coupled, one end of the drive screw is mounted in delta connection and therebetween can be opposite turn Dynamic, the delta connection is welded on ambulatory splint, and the ambulatory splint is slidably mounted in second sliding slot, and according to transmission spiral shell The clamping realized and treat cleaning of objects is slided in the rotation of bar in second sliding slot.

The regulating mechanism includes anti-abrasion pad, regulation handle, adjusting screw rod, and the regulation handle is connected in adjusting screw rod Together, an end face center position of the regulation handle is provided with a groove, and the anti-abrasion pad is embedded in regulation handle In groove, the regulating mechanism altogether there are four, be separately mounted on four connected supporting sleeves of bottom plate lower end surface, the support The inner cylinder face of casing is provided with internal screw thread, and the external cylindrical surface of the adjusting screw rod is provided with external screw thread, by adjusting screw rod with The height adjustment of supporting mechanism is realized in worm drive between supporting sleeve.

The baffle includes baffle handle, baffle body, baffle plug, and the baffle is mounted on supporting mechanism, described Baffle handle is equipped with one, is connected on an end face of baffle body, the baffle plug is connected in gear there are two setting It on another end face of plate ontology and is arranged symmetrically, the structure size of the baffle plug and the first sliding groove knot of supporting mechanism Structure size is adapted；There are four the universal wheel is total, the lower end surface four of the bottom plate of supporting mechanism is connected in by screw respectively On angle.

The crossbeam that moves horizontally includes horizontal beam ontology, horizontal beam slide head, first through hole, on the horizontal beam ontology Horizontal beam slide head there are two being symmetrical arranged, the both ends of the horizontal beam ontology are respectively arranged with a first through hole, and two First through hole is symmetrical arranged on horizontal beam ontology, and two horizontal beam slide heads are located at the inside of two first through hole, the water The structure size of the first sliding groove of the structure size and supporting mechanism of flat-topped ridge slide head is adapted.

The mobile sliding block includes slider bracket, sliding block plummer, rectangular through-hole, the slider bracket and sliding block plummer It is integrally formed, a rectangular through-hole is provided among the sliding block plummer, the length of the rectangular through-hole is greater than the second tooth The tip diameter of wheel, the width of rectangular through-hole are greater than the thickness of second gear.

The vertical shift crossbeam includes vertical beam ontology, rectangle mounting groove, the second through-hole, vertical beam ontology upper end Face is provided with a rectangle mounting groove, and the rectangle mounting groove is used to install the second rack gear of fixed Y-axis movement mechanism, the square The length, width and height size of shape mounting groove and the length, width and height size of the second rack gear are adapted, and second through-hole sets there are two and symmetrically sets It sets on vertical beam ontology, the two sides of the rectangle mounting groove are respectively arranged with a rectangle baffle, and front end rectangle baffle is with after The height of end moment shape baffle is identical, and front end rectangle baffle length is less than the rectangle baffle of rear end, convenient for third gear and third tooth The installation and removal of item, and the thickness of front end rectangle baffle, weight are all larger than the rectangle baffle of rear end, so that vertical shift crossbeam It can guarantee that the movement of vertical shift crossbeam is steady and keeps third gear and third tooth during load movement with stress balance Item can be engaged effectively, can either the abrasion that is can reduce between components again of lifting motion precision improve service life.

The drive screw includes rotational handle, cylindrical screw, conic clamp, one end and the rotation hand of the cylindrical screw Handle is fixed together, and the other end is fixed together with conic clamp, and the conic clamp is round-like structure, big end and cylinder Screw rod is connected, and the circumferential direction of the rotational handle is provided with equally distributed for improving the groove of frictional force, the cylindrical screw External cylindrical surface be provided with and the common coarse thread that matches of hollow thread set internal screw thread.

The delta connection includes set square, cylinder boss, center, stepped hole, is divided on three angles of the set square It is not provided with a cylinder boss, and is provided with a dome on each cylinder boss, the center setting of the set square There is a center, the center center is provided with a stepped hole, and the upper end aperture of the stepped hole is small, lower stomidium Diameter is big, and wherein upper end aperture is less than the outside diameter of conic clamp, and lower end aperture is equal to the outside diameter of conic clamp.

The ambulatory splint includes ambulatory splint ontology, ambulatory splint sliding shoe, and the ambulatory splint ontology and activity are pressed from both sides Plate sliding shoe is an integral structure, and the ambulatory splint ontology is rectangular plate, and the ambulatory splint sliding shoe is L shape plate, The structure size of the second sliding slot of the structure size and supporting mechanism of the ambulatory splint sliding shoe is adapted.

The present invention has the advantage that

1, the present invention utilizes the worm drive between adjusting screw rod and supporting sleeve, so that universal wheel and ground face contact, simultaneously Regulating mechanism is detached from ground, realizes the movement to laser cleaning equipment；Using the worm drive between adjusting screw rod and supporting sleeve, So that universal wheel is detached from ground, while regulating mechanism and ground face contact, realizes the fixation to laser cleaning equipment, that is, be convenient for moving It is dynamic, and can be reliably fixed.Using laser cleaning compared with traditional mechanical cleaning and chemical agent cleaning, it can be avoided pair Workpiece surface causes to damage, reduces pollution on the environment, metallic dust is avoided to be sucked to guarantee the body of worker by worker Body health.

2, control system of the invention can analyze imaging sensor acquisition laser cleaning before and laser cleaning after Image automatically determines cleaning path by the image before analysis laser cleaning, can effectively improve working efficiency；By analyzing laser Image after cleaning judges wash result, carries out a cleaning task again if wash result is unqualified, until qualified Until, it is ensured that ideal cleaning effect is obtained, cleaning effect is good.Control system automatically controls the first driving electricity according to cleaning path Machine, the second driving motor, the coordinated movement of various economic factors of third driving motor move to respectively drive X-axis movement mechanism, Y-axis movement mechanism, Z axis Mechanism moves along a straight line to drive the laser cleaning head of laser cleaning device to complete cleaning task, can be suitable for the big of clean the surface Area cleaning.Wherein, X-axis movement mechanism, Y-axis movement mechanism, Z axis movement mechanism linear motion pass through rack pinion It realizes, precision is higher.Control system adjusts the distance between body surface to be cleaned by laser spot tracing system in real time, It is set to remain at optimal clean distance, so that the distance between laser and cleaned material surface can be controlled accurately, cleaning Uniformly, cleaning effect is good, can be suitable for the metal works of surface imperfection, out-of-flatness.

3, the hollow thread set of clamping device constitutes worm drive with drive screw, drives ambulatory splint by worm drive The clamping for treating cleaning of objects is realized in movement, and clamping force is convenient for promoting or transferring section, high reliablity.The alarm device of laser cleaning device is according to clear Result is washed to alarm, specially alarm is high-powered LED lamp, when wash result is qualified, control system control alarm Device green light；When wash result is unqualified, control system control alarm glows.Remind worker's timely learning cleaning knot Fruit simultaneously carries out next step operation, can shorten the reaction time, improves working efficiency.Vertical shift crossbeam is during load movement It can guarantee that the movement of vertical shift crossbeam is steady and keeps third gear that can effectively engage with third rack gear with stress balance, Can either the abrasion that is can reduce between components again of lifting motion precision improve service life.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art To obtain other drawings based on these drawings.

Fig. 1: structural schematic diagram of the invention；

Fig. 2: three-dimensional structure diagram of the invention；

Fig. 3: the structural schematic diagram of supporting mechanism of the invention；

Fig. 4: the structural schematic diagram at X-axis movement mechanism of the invention；

Fig. 5: the structural schematic diagram at Y-axis movement mechanism of the invention；

Fig. 6: the structural schematic diagram at Z axis movement mechanism of the invention；

Fig. 7: the structural schematic diagram of laser cleaning device of the invention；

Fig. 8: the structural schematic diagram of clamping device of the invention；

Fig. 9: the structural schematic diagram of regulating mechanism of the invention；

Figure 10: the structural schematic diagram of baffle of the invention；

Figure 11: the structural schematic diagram for moving horizontally crossbeam of the invention；

Figure 12: the structural schematic diagram of mobile sliding block of the invention；

Figure 13: the structural schematic diagram of vertical shift crossbeam of the invention；

Figure 14: the structural schematic diagram of drive screw of the invention；

Figure 15: the structural schematic diagram of delta connection of the invention；

Figure 16: the structural schematic diagram of ambulatory splint of the invention；

Figure 17: laser cleaning path schematic diagram of the invention.

Symbol description:

1, supporting mechanism, 2, X-axis movement mechanism, 3, Y-axis movement mechanism, 4, Z axis movement mechanism, 5, laser cleaning device, 6, Clamping device, 7, regulating mechanism, 8, baffle, 9, universal wheel, 101, bottom plate, 102, supporting sleeve, 103, first sliding groove, 104, square Shape slot, 105, second sliding slot, the 201, first driving motor, 202, move horizontally crossbeam, 203, first gear, the 204, first tooth Item, the 301, second driving motor, 302, mobile sliding block, 303, second gear, the 304, second rack gear, 401, third driving motor, 402, vertical shift crossbeam, 403, third gear, 404, third rack gear, 405, support frame, 406, bracket screw, 501, work Platform, 502, control system, 503, laser, 504, scanning galvanometer, 505, field lens, 506, position sensor, 507, laser spot Tracing system, 508, imaging sensor, 509, alarm device, 510, mounting screw, 601, support base, 602, hollow thread set, 603, drive screw, 604, delta connection, 605, ambulatory splint, 701, anti-abrasion pad, 702, regulation handle, 703, adjusting screw rod, 801, baffle handle, 802, baffle body, 803, baffle plug, 2021, horizontal beam ontology, 2022, horizontal beam slide head, 2023, first through hole, 3021, slider bracket, 3022, sliding block plummer, 3023, rectangular through-hole, 4021, vertical beam ontology, 4022, rectangle mounting groove, the 4023, second through-hole, 6031, rotational handle, 6032, cylindrical screw, 6033, conic clamp, 6041, Set square, 6042, cylinder boss, 6043, center, 6044, stepped hole, 6051, ambulatory splint ontology, 6052, ambulatory splint Sliding shoe.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Description and claims of this specification and term " first " in above-mentioned attached drawing, " second ", etc. be for area Not similar object, without being used to describe a particular order or precedence order.It should be understood that the data used in this way are appropriate In the case of can be interchanged, so that the embodiment of the present invention described herein for example can be with that in addition to illustrating or describing herein Sequence other than a little is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that covering is non-exclusive Include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly arrange Those of out step or unit, but may include be not clearly listed or it is solid for these process, methods, product or equipment The other step or units having.

As shown in Fig. 1-17, a kind of new pattern laser cleaning device, including the movement of supporting mechanism 1, X-axis movement mechanism 2, Y-axis Mechanism 3, Z axis movement mechanism 4, laser cleaning device 5, clamping device 6, regulating mechanism 7, baffle 8, universal wheel 9；The supporting mechanism 1 includes bottom plate 101, supporting sleeve 102, first sliding groove 103, rectangular channel 104, second sliding slot 105,101 upper surface of bottom plate It is arranged and there are two disposed in parallel is used to that the first sliding groove 103 for moving horizontally crossbeam 202 to be installed, 101 upper surface of bottom plate is also One is provided with to be located between two first sliding grooves 103 for reducing frictional force between crossbeam 202 and bottom plate 101 is moved horizontally Rectangular channel 104,101 upper surface of bottom plate also set up there are two it is disposed in parallel for installation activity clamping plate 605 second cunning Slot 105, there are four the supporting sleeve 102 for being used for installation and adjustment mechanism 7, the first sliding grooves for 101 lower end surface of the bottom plate setting 103 cross section is T shape, and the cross section of the second sliding slot 105 is L shape.

The X-axis movement mechanism 2 includes the first driving motor 201, moves horizontally crossbeam 202, first gear 203, first Rack gear 204, first driving motor 201 are that stepper motor and being fixedly mounted on moves horizontally on crossbeam 202, and described first drives The output end of dynamic motor 201 is connected by key across the first through hole 2023 for moving horizontally crossbeam 202 with first gear 203, institute It states first gear 203 and the first rack gear 204 is intermeshed, first rack gear 204 is fixedly mounted on the bottom plate of supporting mechanism 1 On 101, the crossbeam 202 that moves horizontally is slidably mounted in the first sliding groove 103 of supporting mechanism 1, and the first gear 203 is logical It crosses and moves horizontally crossbeam 202 in first sliding groove 103 with the drive of the gear motion of the first rack gear 204 and slide, and then realize laser Washer 5 moves in the X-axis direction.

The Y-axis movement mechanism 3 includes the second driving motor 301, mobile sliding block 302, second gear 303, the second rack gear 304, second driving motor 301 is stepper motor and is fixedly mounted on mobile sliding block 302, and the mobile sliding block 302 is sliding Dynamic to be mounted on vertical shift crossbeam 402, second driving motor 301 is connected by key with second gear 303, and described second Gear 303 passes through the rectangular through-hole 3023 of mobile sliding block 302 and the second rack gear 304 is intermeshed, and second rack gear 304 is installed In the rectangle mounting groove 4022 of vertical shift crossbeam 402, the second gear 303 is by engaging fortune with second rack gear 304 It is dynamic that mobile sliding block 302 is driven to slide on vertical shift crossbeam 402, and then realize that laser cleaning device 5 moves along the y axis.

The Z axis movement mechanism 4 includes third driving motor 401, vertical shift crossbeam 402, third gear 403, third Rack gear 404, support frame 405, bracket screw 406, the third driving motor 401 are stepper motor and are fixedly mounted on vertical shifting On dynamic crossbeam 402, the output end of the third driving motor 401 passes through the second through-hole 4023 and the of vertical shift crossbeam 402 Three gears 403 are connected by key, and the third gear 403 is intermeshed with third rack gear 404, and the third rack gear 404 is fixed It is mounted on support frame 405, the vertical shift crossbeam 402 is slidably mounted on support frame 405, and support frame as described above 405 passes through Bracket screw 406 is fixedly mounted on the moving horizontally on crossbeam 202 of X-axis movement mechanism 2, and the third gear 403 is by with The gear motion of three rack gears 404 drives vertical shift crossbeam 402 to slide on support frame 405, and then realizes 5 edge of laser cleaning device Z-direction movement.

The laser cleaning device 5 includes workbench 501, control system 502, laser cleaning head, position sensor 506, swashs Optical focus tracing system 507, imaging sensor 508, alarm device 509, mounting screw 510, the laser cleaning head includes laser Device 503, scanning galvanometer 504, field lens 505,503 output end of laser are connect with scanning galvanometer 504, the scanning galvanometer 504 output ends are connect with field lens 505, and the workbench 501 is mounted on the mobile cunning of Y-axis movement mechanism 3 by mounting screw 510 On block 302, the control system 502, laser cleaning head, alarm device 509 are installed in 501 upper surface of workbench, the position Sensor 506, laser spot tracing system 507, imaging sensor 508 are installed in 501 front end side of workbench, the control System 502, alarm device 509 are separately mounted to the left and right sides of laser cleaning head, and the position sensor 506, laser spot chase after Track system 507, imaging sensor 508 are sequentially arranged at from left to right among 501 front end side of workbench；The laser cleaning Head, position sensor 506, laser spot tracing system 507, imaging sensor 508, alarm device 509 respectively with control system 502 Connected by conducting wire or signal, first driving motor 201, the second driving motor 301, third driving motor 401 respectively with Control system 502 is connected by conducting wire, and the laser 503 is optical fiber laser for emitting laser, the scanning galvanometer 504 For laser is accurately positioned, the field lens 505 is used to be focused optical fiber, and the position sensor 506 is photoelectricity Sensor clamps for detecting the whether clamped mechanism 6 of object to be cleaned, and will test result and be transferred to controller system, institute It states laser spot tracing system 507 and includes focus measurement unit, feedback display unit, the focus measurement unit and the feedback Display unit by conducting wire connect, the focus measurement unit be used for measure laser cleaning head output laser spot with it is to be cleaned The distance between object information, the feedback display unit are used to obtain range information, and real-time display from focus measurement unit The numerical value of distance, described image sensor 508 is for obtaining figure of the object to be cleaned before laser cleaning and after laser cleaning Picture, and image information is transferred to control system 502, after the alarm device 509 is used for according to control system 502 to laser cleaning The judging result of image is alarmed, and the control system 502 is for controlling the first driving motor 201, the second driving motor 301, the movement and stopping of third driving motor 401, the control system 502 are also used to the detection knot to position sensor 506 Fruit is judged, determines whether object to be cleaned enters cleaning area, if object to be cleaned enters cleaning area, controls laser Cleaning head treats cleaning of objects and carries out laser cleaning, and the control system 502 is also used to analyze swashing for the acquisition of imaging sensor 508 Image before light cleaning and after laser cleaning determines cleaning path by the image before analysis laser cleaning, is swashed by analyzing Image after light cleaning judges that wash result, the control system 502 is also used to control alarm device 509 and ties according to cleaning Fruit is alarmed, and the control system 502 is also used to adjust and object table to be cleaned in real time by laser spot tracing system 507 The distance between face makes it remain at optimal clean distance, keeps ideal cleaning effect, improves cleaning efficiency.

The clamping device 6 includes support base 601, hollow thread set 602, drive screw 603, delta connection 604, activity Clamping plate 605, the support base 601 are mounted on the bottom plate 101 of supporting mechanism 1 by screw, and the hollow thread set 602 is connected In 601 upper end of support base and the two is an integral structure, and the inner cylinder face of the hollow thread set 602 is provided with common coarse thread spiral shell Line, the drive screw 603 are mounted in hollow thread set 602 and therebetween to be threadedly coupled, the drive screw 603 One end is mounted in delta connection 604 and can relatively rotate therebetween, and the delta connection 604 is welded on ambulatory splint 605 On, the ambulatory splint 605 is slidably mounted in second sliding slot 105, and according to the rotation of drive screw 603 in second sliding slot The clamping for treating cleaning of objects is realized in sliding in 105.

The regulating mechanism 7 includes anti-abrasion pad 701, regulation handle 702, adjusting screw rod 703, the regulation handle 702 with Adjusting screw rod 703 is fixed together, and an end face center position of the regulation handle 702 is provided with a groove, described anti- Mill pad 701 is embedded in the groove of regulation handle 702, and the regulating mechanism 7 is separately mounted to 101 lower end of bottom plate there are four being total to On four connected supporting sleeves 102 of face, the inner cylinder face of the supporting sleeve 102 is provided with internal screw thread, the adjusting screw rod 703 external cylindrical surface is provided with external screw thread, realizes support machine by the worm drive between adjusting screw rod 703 and supporting sleeve 102 The height adjustment of structure 1.

The baffle 8 includes baffle handle 801, baffle body 802, baffle plug 803, and the baffle 8 is mounted on support In mechanism 1, the baffle handle 801 is equipped with one, is connected on an end face of baffle body 802, the baffle plug 803 set there are two, be connected on another end face of baffle body 802 and be arranged symmetrically, the knot of the baffle plug 803 Structure size and 103 structure size of first sliding groove of supporting mechanism 1 are adapted；There are four the universal wheel 9 is total, pass through screw respectively It is connected on the angle of lower end surface four of the bottom plate 101 of supporting mechanism 1.

The crossbeam 202 that moves horizontally includes horizontal beam ontology 2021, horizontal beam slide head 2022, first through hole 2023, It is symmetrical arranged on the horizontal beam ontology 2021 there are two horizontal beam slide head 2022, the both ends of the horizontal beam ontology 2021 are divided It is not provided with a first through hole 2023, and two first through hole 2023 are symmetrical arranged on horizontal beam ontology 2021, two water Flat-topped ridge slide head 2022 is located at the inside of two first through hole 2023, the structure size and support of the horizontal beam slide head 2022 The structure size of the first sliding groove 103 of mechanism 1 is adapted.

The mobile sliding block 302 includes slider bracket 3021, sliding block plummer 3022, rectangular through-hole 3023, the sliding block Bracket 3021 is integrally formed with sliding block plummer 3022, and a rectangular through-hole is provided among the sliding block plummer 3022 3023, the length of the rectangular through-hole 3023 is greater than the tip diameter of second gear 303, and the width of rectangular through-hole 3023 is greater than The thickness of second gear 303.

The vertical shift crossbeam 402 includes vertical beam ontology 4021, rectangle mounting groove 4022, the second through-hole 4023, institute It states 4021 upper surface of vertical beam ontology and is provided with a rectangle mounting groove 4022, the rectangle mounting groove 4022 is for installing fixation Second rack gear 304 of Y-axis movement mechanism 3, the length, width and height of the length, width and height size of the rectangle mounting groove 4022 and the second rack gear 304 Size is adapted, and second through-hole 4023 sets there are two and is symmetricly set on vertical beam ontology 4021, the rectangle installation The two sides of slot 4022 are respectively arranged with a rectangle baffle, and front end rectangle baffle is identical as the height of rear end rectangle baffle, front end Rectangle baffle length is less than the rectangle baffle of rear end, convenient for the installation and removal of third gear 403 and third rack gear 404, and it is preceding The thickness of end moment shape baffle, weight are all larger than the rectangle baffle of rear end, so that vertical shift crossbeam 402 is during load movement It can guarantee that vertical shift crossbeam 402 moves steady and keeps third gear 403 and third rack gear 404 can with stress balance Effectively engagement, can either the abrasion that is can reduce between components again of lifting motion precision improve service life.

The drive screw 603 includes rotational handle 6031, cylindrical screw 6032, conic clamp 6033, the cylinder spiral shell One end of bar 6032 is fixed together with rotational handle 6031, and the other end is fixed together with conic clamp 6033, the taper Clamp 6033 is round-like structure, and big end and cylindrical screw 6032 are connected, and the circumferential direction of the rotational handle 6031 is provided with The groove for being used to improve frictional force of even distribution, the external cylindrical surface of the cylindrical screw 6032 is provided with and hollow thread set 602 The common coarse thread that internal screw thread matches.

The delta connection 604 includes set square 6041, cylinder boss 6042, center 6043, stepped hole 6044, described It is respectively arranged with a cylinder boss 6042 on three angles of set square 6041, and is provided with a circle on each cylinder boss Top, the center of the set square 6041 are provided with a center 6043, and 6043 center of center is provided with One stepped hole 6044, the upper end aperture of the stepped hole 6044 is small, lower end aperture is big, and wherein upper end aperture is less than conic clamp 6033 outside diameter, lower end aperture are equal to the outside diameter of conic clamp 6033.

The ambulatory splint 605 includes ambulatory splint ontology 6051, ambulatory splint sliding shoe 6052, the ambulatory splint sheet Body 6051 is an integral structure with ambulatory splint sliding shoe 6052, and the ambulatory splint ontology 6051 is rectangular plate, the work Dynamic clamping plate sliding shoe 6052 is L shape plate, and the structure size of the ambulatory splint sliding shoe 6052 and the second of supporting mechanism 1 are slided The structure size of slot 105 is adapted.

Before present invention work, first with the worm drive between adjusting screw rod 703 and supporting sleeve 102 so that universal wheel 9 with Ground face contact, while regulating mechanism 7 is detached from ground, and laser cleaning equipment is moved to suitable position at this time, then recycles and adjusts The worm drive between screw rod 703 and supporting sleeve 102 are saved, so that universal wheel 9 is detached from ground, regulating mechanism 7 and ground face contact, it is real It is now to the fixation of laser cleaning equipment, i.e., easy to remove, and can be reliably fixed.Before work, it is also necessary to X-axis movement mechanism 2, Y Shaft movement mechanism 3, Z axis movement mechanism 4, baffle 8 are respectively positioned on initial position, and the initial position of X-axis movement mechanism 2 is first gear 203 are meshed with the middle position of the first rack gear 204, and the initial position of Y-axis movement mechanism 3 is second gear 303 and the second tooth The middle position of item 304 is meshed, and the initial position of Z axis movement mechanism 4 is the centre of third gear 403 and third rack gear 404 Position is meshed, and the initial position of baffle 8 is to be fully inserted into first sliding groove 103.

Cleaning step of the invention is as follows:

(1) object to be cleaned is placed on 1 upper surface middle position of supporting mechanism, and is clamped by clamping device 6.Hollow spiral shell Line set 602 constitutes worm drive with drive screw 603, drives the movement of ambulatory splint 605 to realize to be cleaned by worm drive The clamping of object, clamping force are convenient for promoting or transferring section, high reliablity.

(2) the whether clamped mechanism 6 of object to be cleaned is detected by the position sensor 506 of laser cleaning device 5 to clamp.To Cleaning of objects just carries out hand-operated clamping to it after being placed on supporting mechanism 1, if position sensor 506 detects object to be cleaned Testing result is to clamp on supporting mechanism 1, if position sensor 506 detects object to be cleaned not on supporting mechanism 1 Testing result does not clamp as.

(3) when the position sensor 506 of laser cleaning device 5 detects that object to be cleaned is clamped the clamping of mechanism 6, image Sensor 508 obtains object to be cleaned and image and image information is transferred to control system 502 before laser cleaning, passes through control Image before the analysis laser cleaning of system 502 cleans path to determine.Wherein, cleaning path needs to be determined according to cleaning section.

The determination method for cleaning section is as follows: the Upper-lower Limit position by the region to be cleaned on object to be cleaned is true Fixed two horizontal lines, determine two vertical lines by the left and right extreme position in the region to be cleaned on object to be cleaned, by four The region that straight line surrounds is to clean section.Upper horizontal line and left vertical line intersection point are defined as cleaning starting point, by lower horizontal line Clean endpoint is defined as with right vertical line intersection point.

Cleaning determining method of path is as follows: cleaning straight down by cleaning starting point, reaches horizontal direction after lower horizontal line Right cleaning is cleaned, horizontal direction after horizontal line in arrival straight up again after reaching the horizontal cleaning spacing that control system 502 is set Right cleaning is cleaned straight down again after reaching the horizontal cleaning spacing that control system 502 is set, is repeated the above process, until complete Stop cleaning at the cleaning in entire region to be cleaned and when reaching clean endpoint.

(4) control system 502 is driven according to cleaning path clustering the first driving motor 201, the second driving motor 301, third Dynamic 401 coordinated movement of various economic factors of motor respectively drives the linear motion of X-axis movement mechanism 2, Y-axis movement mechanism 3, Z axis movement mechanism 4, And then the laser cleaning head of laser cleaning device 5 is driven to complete to treat the cleaning task in the region to be cleaned on cleaning of objects.Wherein, X-axis movement mechanism 2, Y-axis movement mechanism 3, Z axis movement mechanism 4 linear motion by rack pinion realize, precision compared with It is high.

(5) imaging sensor 508 of laser cleaning device 5 obtains the image after object cleaning to be cleaned and passes image information It is defeated by control system 502, the image after laser cleaning is analyzed by control system 502 simultaneously judges wash result.Judgement Mode is as follows: a, treating the image progress gray proces after cleaning of objects cleaning by control system 502, obtains gray value figure Picture；Both b, the gray-value image of image when the gray-value image and clean body surface to be cleaned is compared, judge Degree of conformity whether reach setting value；C, wash result is judged if reaching setting value for qualification, if not reaching setting value Wash result is judged to be unqualified, and the setting value is 92%, wherein setting value can be adjusted as needed.

(6) control system 502 determines whether cleaning terminates according to judging result.If wash result is qualification, knot is cleaned Beam；If wash result be it is unqualified, the image after 502 pairs of control system cleanings, which reanalyses, determines new cleaning path, then into Cleaning task of row, until qualified.

(7) X-axis movement mechanism 2, Y-axis movement mechanism 3, Z axis movement mechanism 4, baffle 8 are returned into initial position.Wherein, X Shaft movement mechanism 2, Y-axis movement mechanism 3, Z axis movement mechanism 4 the auto-returned initial position under the control of control system 502, gear Plate 8 then returns to initial position by manual operation manually.

The alarm device 509 of laser cleaning device 5 of the present invention is alarmed according to wash result, and specially alarm 509 is big Power LED lamp.When wash result is qualified, control system 502 controls 509 green light of alarm；When wash result is not conform to When lattice, control system 502 controls alarm and glows.

The laser spot tracing system 507 of laser cleaning device 5 of the present invention includes for measuring swashing for laser cleaning head output The focus measurement unit of the distance between optical focus and object to be cleaned information and for from focus measurement unit obtain distance Information, and the feedback display unit of the numerical value of real-time display distance, control system 502 pass through 507 energy of laser spot tracing system It is enough to adjust the distance between body surface to be cleaned in real time, so that it is remained at optimal clean distance, for irregularly, no Smooth metal surface can also obtain preferable cleaning effect, higher cleaning efficiency, while easy to remove and fixed.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims

1. a kind of new pattern laser cleaning device, it is characterised in that: including supporting mechanism, X-axis movement mechanism, Y-axis movement mechanism, Z Shaft movement mechanism, laser cleaning device, clamping device, regulating mechanism, baffle, universal wheel；The supporting mechanism includes bottom plate, support Casing, first sliding groove, rectangular channel, second sliding slot, there are two disposed in parallel for installing level for the bottom plate upper surface setting The first sliding groove of moving beam, the bottom plate upper surface are additionally provided with one and are located between two first sliding grooves for reducing level The rectangular channel of frictional force between moving beam and bottom plate, the bottom plate upper surface is also set up to be used to install there are two disposed in parallel The second sliding slot of ambulatory splint, bottom plate lower end surface setting is there are four the supporting sleeve for being used for installation and adjustment mechanism, and described the The cross section of one sliding slot is T shape, and the cross section of the second sliding slot is L shape.The X-axis movement mechanism includes the first driving Motor moves horizontally crossbeam, first gear, the first rack gear, and first driving motor is stepper motor and is fixedly mounted on water On flat moving beam, the output end of first driving motor passes through across the first through hole for moving horizontally crossbeam with first gear Key connection, the first gear and the first rack gear are intermeshed, and first rack gear is fixedly mounted on the bottom plate of supporting mechanism, The crossbeam that moves horizontally is slidably mounted in the first sliding groove of supporting mechanism, and the first gear with the first rack gear by nibbling Resultant motion drive moves horizontally crossbeam and slides in first sliding groove, and then realizes that laser cleaning device moves in the X-axis direction.The Y Shaft movement mechanism includes the second driving motor, mobile sliding block, second gear, the second rack gear, and second driving motor is stepping It motor and is fixedly mounted on mobile sliding block, the mobile sliding block is slidably mounted on vertical shift crossbeam, second driving Motor is connected by key with second gear, and the rectangular through-hole that the second gear passes through mobile sliding block is mutually nibbled with the second rack gear Close, second rack gear is mounted in the rectangle mounting groove of vertical shift crossbeam, the second gear by with the second rack gear Gear motion drives mobile sliding block to slide on vertical shift crossbeam, and then realizes that laser cleaning device moves along the y axis.It is described Z axis movement mechanism includes third driving motor, vertical shift crossbeam, third gear, third rack gear, support frame, bracket screw, institute It states third driving motor and is stepper motor and is fixedly mounted on vertical shift crossbeam that the output end of the third driving motor is worn The second through-hole and third gear for crossing vertical shift crossbeam are connected by key, and the third gear and third rack gear are intermeshed, The third rack gear is fixedly mounted on the support frame, and the vertical shift crossbeam is slidably installed on the support frame, support frame as described above Be fixedly mounted on the moving horizontally on crossbeam of X-axis movement mechanism by bracket screw, the third gear by with third rack gear Gear motion drive vertical shift crossbeam slide on the support frame, and then realize laser cleaning device moved along Z-direction.It is described Laser cleaning device includes workbench, control system, laser cleaning head, position sensor, laser spot tracing system, image sensing Device, alarm device, mounting screw, the laser cleaning head include laser, scanning galvanometer, field lens, the laser output with Scanning galvanometer connection, the scanning galvanometer output end are connect with field lens, and the workbench is mounted on Y-axis by mounting screw and moves On the mobile sliding block of mechanism, the control system, laser cleaning head, alarm device are installed in worktable upper surface, the position Sensor, laser spot tracing system, imaging sensor are installed in workbench front end side, the control system, alarm device It is separately mounted to the left and right sides of laser cleaning head, the position sensor, laser spot tracing system, imaging sensor are certainly left It is sequentially arranged to the right among the side of workbench front end；The laser cleaning head, position sensor, laser spot tracing system, Imaging sensor, alarm device are connect with control system by conducting wire or signal respectively, first driving motor, the second driving electricity Machine, third driving motor are connect with control system by conducting wire respectively, and the laser is optical fiber laser for emitting laser, The scanning galvanometer is used to that laser is accurately positioned, and the field lens is used to be focused optical fiber, the position sensor For photoelectric sensor, for detecting the whether clamped gear grips of object to be cleaned, and it will test result and be transferred to controller system System, the laser spot tracing system include focus measurement unit, feedback display unit, the focus measurement unit and described anti- Present display unit by conducting wire connect, the focus measurement unit be used for measure laser cleaning head export laser spot with to clear The distance between washing body information, the feedback display unit is used to obtain range information from focus measurement unit, and shows in real time Show the numerical value of distance, described image sensor is for obtaining figure of the object to be cleaned before laser cleaning and after laser cleaning Picture, and image information is transferred to control system, the alarm device is for sentencing image after laser cleaning according to control system Disconnected result is alarmed, and the control system is used to control the fortune of the first driving motor, the second driving motor, third driving motor Dynamic and stopping, the control system are also used to judge the testing result of position sensor whether determine object to be cleaned Into cleaning area, if object to be cleaned enters cleaning area, control laser cleaning head treat cleaning of objects carry out laser it is clear Wash, the control system be also used to analyze imaging sensor acquisition laser cleaning before and laser cleaning after image, pass through Image before analyzing laser cleaning determines cleaning path, is judged by the image after analysis laser cleaning wash result, The control system is also used to control alarm device and is alarmed according to wash result, and the control system is also used to through laser coke Point tracking system adjusts the distance between body surface to be cleaned in real time, it is made to remain at optimal clean distance, keeps Ideal cleaning effect improves cleaning efficiency.The clamping device includes support base, hollow thread set, drive screw, connection delta Head, ambulatory splint, the support base are mounted on the bottom plate of supporting mechanism by screw, and the hollow thread set is connected in support Seat upper end and the two is an integral structure, the inner cylinder face of hollow thread set is provided with common coarse thread, the transmission Screw rod is mounted in hollow thread set and therebetween to be threadedly coupled, and one end of the drive screw is mounted in delta connection And can relatively rotate therebetween, the delta connection is welded on ambulatory splint, and the ambulatory splint is slidably mounted on second In sliding slot, and the clamping realized and treat cleaning of objects is slided in second sliding slot according to the rotation of drive screw.The adjusting machine Structure includes anti-abrasion pad, regulation handle, adjusting screw rod, and the regulation handle is fixed together with adjusting screw rod, the regulation handle An end face center position be provided with a groove, the anti-abrasion pad is embedded in the groove of regulation handle, the adjusting machine There are four structure is total, it is separately mounted on four connected supporting sleeves of bottom plate lower end surface, the inner cylinder face of the supporting sleeve is set It is equipped with internal screw thread, the external cylindrical surface of the adjusting screw rod is provided with external screw thread, passes through the spiral between adjusting screw rod and supporting sleeve The height adjustment of supporting mechanism is realized in transmission.The baffle includes baffle handle, baffle body, baffle plug, the baffle peace On supporting mechanism, the baffle handle is equipped with one, is connected on an end face of baffle body, the baffle plug There are two if, be connected on another end face of baffle body and be it is arranged symmetrically, the structure size of the baffle plug with The first sliding groove structure size of supporting mechanism is adapted；There are four the universal wheel is total, support machine is connected in by screw respectively On the angle of lower end surface four of the bottom plate of structure.

2. a kind of new pattern laser cleaning device according to claim 1, it is characterised in that: the crossbeam that moves horizontally includes Horizontal beam ontology, horizontal beam slide head, first through hole are symmetrical arranged on the horizontal beam ontology there are two horizontal beam slide head, The both ends of the horizontal beam ontology are respectively arranged with a first through hole, and two first through hole are symmetrically set on horizontal beam ontology It sets, the sliding drum head of two horizontal beams is located at the inside of two first through hole, the structure size and support machine of the sliding drum head of the horizontal beam The structure size of the first sliding groove of structure is adapted.

3. a kind of new pattern laser washer according to claim 1, it is characterised in that: the mobile sliding block includes sliding block branch Frame, sliding block plummer, rectangular through-hole, the slider bracket are integrally formed with sliding block plummer, among the sliding block plummer It is provided with a rectangular through-hole, the length of the rectangular through-hole is greater than the tip diameter of second gear, the width of rectangular through-hole Greater than the thickness of second gear.

4. a kind of new pattern laser washer according to claim 1, it is characterised in that: the vertical shift crossbeam includes perpendicular Straight beam ontology, rectangle mounting groove, the second through-hole, vertical beam ontology upper surface are provided with a rectangle mounting groove, the square Shape mounting groove is used to install the second rack gear of fixed Y-axis movement mechanism, the rectangle according to slot length, width and height size and the second tooth The length, width and height size of item is adapted.Second through-hole sets there are two and is symmetricly set on vertical beam ontology, and the rectangle is pressed It is respectively arranged with a rectangle baffle according to the two sides of slot, front end rectangle baffle is identical as the height of rear end rectangle baffle, preceding end moment Shape baffle length is less than the rectangle baffle of rear end, and the thickness of front end rectangle baffle, weight are all larger than the rectangle baffle of rear end, make Vertical shift crossbeam can be guaranteed that the movement of vertical shift crossbeam is steady and be kept the during load movement with stress balance Three gears can be engaged effectively with third rack gear.

5. the clear device of a kind of new pattern laser according to claim 1, it is characterised in that: the drive screw includes rotation hand Handle, cylindrical screw, conic clamp, one end and the rotational handle of the cylindrical screw are fixed together, the other end and conic clamp It is fixed together, the conic clamp is round-like structure, and big end and cylindrical screw are connected, and the circumferential direction of the rotational handle is set Be equipped with it is equally distributed for improving the groove of frictional force, the external cylindrical surface of the cylindrical screw be provided with in hollow thread set The common coarse thread that screw thread matches.

6. a kind of new pattern laser cleaning equipment according to claim 1, it is characterised in that: the delta connection includes triangle Plate, cylinder boss, center, stepped hole are respectively arranged with a cylinder boss, and each circle on three angles of the set square A dome is provided on column boss, the center of the set square is provided with a center, the center centre bit It installs and is equipped with a stepped hole, the upper end aperture of the stepped hole is small, lower end aperture is big, and wherein upper end aperture is less than conic clamp Outside diameter, lower end aperture be equal to conic clamp outside diameter.

7. a kind of new pattern laser cleaning equipment according to claim 1, it is characterised in that: the ambulatory splint includes activity Ing jaw body, ambulatory splint sliding shoe, the ambulatory splint ontology are an integral structure with ambulatory splint sliding shoe, the activity Ing jaw body is rectangular plate, the ambulatory splint sliding shoe be L shape plate, the structure size of the ambulatory splint sliding shoe with The structure size of the second sliding slot of supporting mechanism is adapted.