CN109590614A - A kind of universal vehicle-mounted laser rust remover of intelligence - Google Patents
A kind of universal vehicle-mounted laser rust remover of intelligence Download PDFInfo
- Publication number
- CN109590614A CN109590614A CN201910047016.0A CN201910047016A CN109590614A CN 109590614 A CN109590614 A CN 109590614A CN 201910047016 A CN201910047016 A CN 201910047016A CN 109590614 A CN109590614 A CN 109590614A
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- CN
- China
- Prior art keywords
- laser
- rust
- vehicle
- controller
- wheel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B23K26/36—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/12—Roller-type wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of universal vehicle carrying laser rust-removing device of intelligence, the universal vehicle car body of omni-directional moving platform-intelligence is set, its bottom is made of four Mecanum wheels and its support plate component, four stepper motors provide power for four Mecanum wheels, it then is up car bottom plate, car bottom plate is fitted with laser rust-removing device, Laser Power Devices base flange plate, support column, pillar ring flange, transmission cable, camera and controller, walking stepper motor driver, laser power supply, holder camera, laser revolving platform, the first-class composition of laser scanning.Revolving platform is constituted using hollow shaft step motor rotating shaft, holder using 180 degree steering engine and its associated component, it is connected on steering engine from controller lead, universal vehicle is controlled by remote controller along certain route, away rust by laser machine on vehicle cleans corrosion working face, realizes comprehensive cleaning by adjusting the revolving platform that is located at laser scanning head top.
Description
One, technical field:
The present invention relates to a kind of laser rust-removing devices more particularly to a kind of universal vehicle of intelligence to carry laser rust-removing device.
Two, background technique:
Tradition derusting industry has various derusting modes, is derusted using chemical agent and mechanical means.
In today that China environmental protection laws and regulations requirement is increasingly stringenter, people are environmentally friendly and awareness of safety is increasingly enhanced, industrial production is removed
The chemical species that can be used in rust will become fewer and fewer, and away rust by laser have without grinding, it is non-contact, without fuel factor
Be suitable for various materials object the features such as, it is considered to be derust most reliable, most effective solution for metal surface.
Current away rust by laser machine is due to directly by manual operation, so that it is using extremely inconvenient, and for some
Special occasion is manually direct progress operation, and also current away rust by laser machine generates a large amount of winged during the work time
Object is splashed easily to damage operating personnel.
Three, summary of the invention:
The present invention is novel to be related to a kind of universal vehicle carrying laser rust-removing device of intelligence, mainly includes vehicle intelligent control system
System, the universal vehicle of omni-directional moving platform-, away rust by laser equipment, real-time monitoring system-cradle head camera device etc..
A kind of universal vehicle carrying laser rust-removing device of intelligence, is arranged the universal vehicle car body of omni-directional moving platform-intelligence, its bottom
Portion is made of four Mecanum wheels and its support plate component, and four stepper motors provide power for four Mecanum wheels, so
It is up car bottom plate afterwards, car bottom plate is fitted with laser apparatus, controller, laser power supply, holder camera.Staff is logical
Remote controller is crossed to control universal vehicle, travels vehicle on one side along certain path, the away rust by laser machine on vehicle is on one side to rust
Erosion working face is cleaned, and staff in real time can simultaneously observe working face by camera monitoring system, and then to something lost
Leakage or the clear place of not washing clean realize and clean again.
Structure one, is arranged car body and other carry hardware component
The car body of away rust by laser vehicle is set, it is by body panels, the laser rust-removing device of wheel and body panels top, laser electricity
The composition such as source base flange plate, support column, pillar ring flange, power supply, transmission cable, camera and controller, wheel are selected
Be that four Mecanum wheels that vehicle can be allow to travel along any direction are constituted, power is mentioned by four asynchronous motors respectively
For stepping motor is connected on the bearing of Mecanum wheel by support plate and realizes power transmission, and stepper motor and Mike receive
Nurse wheel is all to realize to be consolidated with body panels by support plate.
Controller and driving system of stepping motor and its associated component is arranged in structure two
The voltage that vehicle power supply exports is generated into low tension and high-voltage electricity after transformer, then connects two kinds of voltages respectively
Onto controller and away rust by laser equipment, the signal wire drawn from controller is then coupled with four motor drivers, then
It is respectively coupled to four stepper motors；In such event entire away rust by laser vehicle hardware system has just been put up, universal garage is walked
Signal is by remote controler through being wirelessly transmitted on Vehicle Controller, and then controller passes through again through wire transmission on motor driver
The amplified pulse signal of driver is input to stepper motor again, to make universal vehicle according to commander's route.
Real-time monitoring system-cradle head camera device is arranged in structure three
In order to be monitored in real time to working surface, provided with the real time monitoring apparatus being made of holder and camera,
Real-time pictures are passed back console by being wirelessly transferred, to reach efficient work.Holder uses 180 degree steering engine and its phase
It closes component to constitute, be connected on steering engine from controller lead, controller sends variable-width or pulse width tune by control line
The electric pulse of (PWM) is made to control steering engine.Camera is filled on steering engine, camera is connected directly with controller, vision signal
Via controller is transmitted back in the TFT color screen of remote control operation platform, to complete real time monitoring operation.
Laser rust-removing device system and its associated component is arranged in structure four
Laser rust-removing device is by laser emitter, electromagnetic relay, hollow shaft step motor rotating shaft, hollow shaft stepping electricity
Machine base ring flange, hollow shaft step motor, the through-hole of hollow shaft step motor, hollow shaft stepper motor boss disk are swept
Retouch field lens and probe composition.Hollow shaft step motor is used, wherein convenient for stereoscopic three-dimensional space around laser rust-removing device
Working face cleaning is corroded, to reach comprehensive no dead angle cleaning, and working efficiency can also be greatly improved.Controller passes through control
Line processed sends the electric pulse of variable-width or pulse width modulation (PWM) to control motor, and controller passes through control electromagnetism relay
The on-off of device, and then the start and stop of controllable laser emitter.
The above structure composition forms a kind of universal vehicle-mounted laser rust remover of intelligence.
Core of the invention content: Mecanum wheel omni-directional moving platform intelligently universal vehicle car body is set, in its bottom
Four Mecanum wheels are set, Mecanum wheel group is constituted, each Mecanum wheel is equipped with a stepper motor, Mai Kena
The shaft with keyway hole of nurse wheel wheel hub, which is connected by key, to be mounted on stepper motor extension shaft, and stepper motor is mounted on by support plate
Vehicle bottom, constitutes four groups of Mecanum wheel stepper motor drivings and support component, and Mecanum wheel group includes 2 right wheels and 2
Revolver, each wheel have 8 polyurethane rollers, these rollers are in 45 degree of angle parallels by the Plane of rotation of its rotary shaft and wheel
Column, wheel shaft and roller are clipped among two thick stainless steel wheel disc, the wheel in spoke plate centre of gyration setting shaft with keyway hole
Hub, is then up car bottom plate, and car bottom plate is fitted with laser apparatus, controller, stepper motor driver, laser electricity
The car body of away rust by laser vehicle is arranged in source, holder camera laser revolving platform, laser scanning head etc., it is by body panels, wheel and car body
The composition such as laser rust-removing device, power supply, camera and the controller on plate top, the signal wire drawn from controller are coupled with
Four motor drivers, then four stepper motors are respectively coupled to, complete machine away rust by laser vehicle hardware system is constituted, holder is adopted
It is constituted with 180 degree steering engine and its associated component, setting steering engine controls, and is connected on steering engine from controller lead, fills on steering engine
Camera, camera are connected directly with controller, vision signal via controller are transmitted back to the real time monitoring of remote control operation platform
In TFT color screen, laser rust-removing device is set, and laser rust-removing device is by laser emitter, electromagnetic relay, revolving platform, rotating shaft
It is formed with probe, wherein revolving platform is by hollow shaft step motor rotating shaft, hollow shaft step motor base flange plate, hollow shaft
Stepper motor, the through-hole of hollow shaft step motor, the composition such as hollow shaft stepper motor boss disk, setting camera head monitor are anti-
Feedback system also sets up the feedback intelligent control system of Digiplex, setting Mecanum wheel group and laser and scanning holder, structure
Comprehensive away rust by laser complete machine is turned round certainly at omni-directional moving platform and laser scanning.
Staff obtains cleaning live video and image information by camera head monitor feedback system, passes through wireless remote control
The walking path and laser cleaning orientation and angle of device, intelligent control Mecanum wheel group and laser and scanning holder are realized complete
Orientation mobile platform and the comprehensive laser cleaning of laser scanning revolution pitching work.
Four, Detailed description of the invention:
Attached drawing is the structure chart of invention, and being respectively as follows: Fig. 1 is this patent overall structure figure, and Fig. 2 is Mecanum wheel and support
The installation expanded view of plate and motor, Fig. 3 are integrally-built front perspective views, and Fig. 4 is integrally-built main view, and Fig. 5 is
Integrally-built right side view, wherein it is respectively as follows: 1. laser power supplies, 2. controllers, 3. car bottom plates, 4. stepper motor drivers
5. Mecanum wheel and support plate component, 6. lasers, 7. holders, 8. cameras, 9. hollow shaft step motor rotating shafts, 10.
Probe, 11. Mecanum wheel interior plates, the shaft with keyway hole of 12. Mecanum wheel wheel hubs, 13. support plates, 14. biserials to
Heart ball bearing, 15. stepper motor end flanges, 16. mounting screws, 17. spring collars, 18. laser cleaning scanning fields, 19. transmission
Cable, 20. pillar ring flanges, 21. pillars, 22. Laser Power Devices base flange plates, 23. bolts, 24. support plate ring flanges, 25.
Hollow shaft step motor base flange plate, 26. hollow shaft step motors, the through-hole of 27. hollow shaft step motors, 28. hollow shafts
Stepper motor boss disk, 29. field mirrors, 30. controller base flange plates, 31. stepper motor driver base flanges
Disk, 32. Mecanum wheel rollers, 33. Mecanum wheel plates, the shaft with keyway hole of 34. Mecanum wheel wheel hubs, 35. spring collars,
36. the extension shaft of stepper motor, 37.. spring collar, 38. spring collars, 39. stepper motor end flanges disks, 40. stepper motors.
Five, specific embodiment:
A specific embodiment of the invention are as follows:
The car body of away rust by laser vehicle is set, it is by body panels 3, Mecanum wheel and support plate component 5 and body panels top
The composition such as laser 6, laser power supply, camera 8 and controller 2, what wheel was selected is that vehicle can be allow along any
Four Mecanum wheels 5 of direction running are constituted, and power is provided by four stepper motors 40 respectively, the end flanges of stepper motor 40
It is bolted in support plate 13, support plate 13 is fixedly attached on body panels bottom surface using bolt, stepper motor 40
Motor shaft is set as extension shaft, installs double-row radial ball bearing 14, double-row radial ball bearing 14 on the motor shaft of stepper motor 40
Outer ring be fixed in the bearing hole of support plate 13, bearing outer ring is positioned by spring collar, Mecanum wheel wheel hub band keyway
Axis hole 12 is mounted on the motor shaft of stepper motor 40, and stepper motor 40 and Mecanum wheel 5 are all by support plate realization and vehicle
What body plate 3 was consolidated.The voltage that vehicle power supply 1 is exported generates low tension and high-voltage electricity after transformer 1, then by two
Kind voltage is respectively coupled on controller 2 and laser 6, and the signal wire drawn from controller 2 is then coupled with motor driven
Device 4, then it is respectively coupled to four stepper motors 40；In such event entire away rust by laser vehicle hardware system has just been put up.If
The real time monitoring apparatus being made of holder 7 and camera 8 has been set, real-time pictures are passed back console by being wirelessly transferred, thus
Reach efficient work.Holder 7 is constituted using 180 degree steering engine and its associated component, is connected on steering engine from controller lead,
Controller sends the electric pulse of variable-width or pulse width modulation (PWM) by control line to control steering engine.It is filled on steering engine
Camera 8, camera 8 are connected directly with controller 2, and the TFT that vision signal via controller is transmitted back to remote control operation platform is color
On screen, to complete real time monitoring operation.Laser rust-removing device is by laser emitter 6, electromagnetic relay, hollow shaft step motor
Rotating shaft 9, hollow shaft step motor base flange plate 25, hollow shaft step motor 26, the through-hole 27 of hollow shaft step motor are empty
Mandrel stepper motor boss disk 28, field mirror 29 and probe 10 form.
Between laser 6 and pillar 21, between pillar 21 and car bottom plate 3, laser power supply 1 and Laser Power Devices base flange
Disk 22, between Laser Power Devices base flange plate 22 and car bottom plate 3, between controller 2 and controller base flange plate 30, controller
Between base flange plate 30 and car bottom plate 3, between stepper motor driver 4 and stepper motor driver base flange plate 31, step
Into between motor driver base flange plate 31 and car bottom plate 3, hollow shaft step motor base flange plate 25 and laser 6 it
Between, between hollow shaft stepper motor boss disk 28 and probe 10, Mecanum wheel and support plate component 5 and support plate method
Between blue disk 24, between support plate ring flange 24 and car bottom plate 3, all adopted between stepper motor end flanges disk 39 and stepper motor 40
It is fixedly connected with flange bolt.
The course of work: in staff's course of work, remote controler only need to be manipulated, makes remote controler by pressing corresponding button
Issuing corresponding command signal, Vehicle Controller 2 receives and passes to stepper motor driver 4 by signal wire after signal, into
And stepper motor 40 is being passed to, stepper motor 18 will be according to the route of command signal meaning, while camera 8 can incite somebody to action
Collected vision signal via controller 2 is passed back on the screen of remote controler, and after vehicle reaches operating position, staff presses sharp
Light rust removalling equipment start button, controller give electromagnetic relay one pulse letter by signal wire immediately after receiving this signal
Number, 6 circuit of laser emitter is connected, laser is begun to send out and works, in the process of work, staff can be continuous
By remote control control holder 7 rotation and hollow shaft step motor 26 rotate, come switch visual angle and adjustment laser scanning head 10
Working range, so as to more efficiently complete cleaning.Staff also can be by 8 monitoring system of camera in real time to work
Face is observed, and then is had omission or do not washed clean realization clearly and clean again.
Claims (2)
1. a kind of universal vehicle-mounted laser rust remover of intelligence, it is characterized in that: setting Mecanum wheel omni-directional moving platform intelligence ten thousand
To vehicle car body, four Mecanum wheels are set in its bottom, constitute Mecanum wheel group, each Mecanum wheel equipped one
A stepper motor, the shaft with keyway hole of Mecanum wheel wheel hub, which is connected by key, to be mounted on stepper motor extension shaft, stepping electricity
Machine is mounted on vehicle bottom by support plate, constitutes four groups of Mecanum wheel stepper motor drivings and support component, Mai Kena
Nurse wheel group includes 2 right wheels and 2 revolvers, and each wheel has 8 polyurethane rollers, these rollers press the rotation of its rotary shaft and wheel
Plane is arranged in parallel in 45 degree of angles, and wheel shaft and roller are clipped among two thick stainless steel wheel disc, in the spoke plate centre of gyration
The wheel hub in shaft with keyway hole is set, is then up car bottom plate, car bottom plate is fitted with laser apparatus, controller, stepping electricity
Machine driver, laser power supply, holder camera laser revolving platform, laser scanning head etc., be arranged away rust by laser vehicle car body, it by
The composition such as body panels, the laser rust-removing device of wheel and body panels top, power supply, camera and controller, draws from controller
Signal wire out is coupled with four motor drivers, then is respectively coupled to four stepper motors, constitutes complete machine away rust by laser vehicle
Hardware system, holder are constituted using 180 degree steering engine and its associated component, and setting steering engine controls, and are connected from controller lead
Onto steering engine, camera is filled on steering engine, camera is connected directly with controller, and vision signal via controller is transmitted back to remote control
In the real time monitoring TFT color screen of operating platform, be arranged laser rust-removing device, laser rust-removing device by laser emitter, electromagnetism after
Electric appliance, revolving platform, rotating shaft and probe composition, wherein revolving platform is by hollow shaft step motor rotating shaft, hollow shaft stepping electricity
Machine base ring flange, hollow shaft step motor, the through-hole of hollow shaft step motor, the groups such as hollow shaft stepper motor boss disk
At setting camera head monitor feedback system also sets up Digiplex, setting Mecanum wheel group and laser and scans holder
Feedback intelligent control system constitutes omni-directional moving platform and laser scanning from the comprehensive away rust by laser complete machine of revolution.
2. the universal vehicle-mounted laser rust remover of a kind of intelligence according to claim 1, it is characterized in that: staff passes through operation
Remote controler controls universal vehicle, travels vehicle on one side along certain path, and away rust by laser machine on vehicle is on one side to corrosion work
Face is cleaned, and staff in real time can observe working face by camera monitoring system, and then to omission or cleaning
Completely place's realization is not cleaned again, and staff can be located at laser scanning head top according to real-time video
Revolving platform realizes comprehensive cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910047016.0A CN109590614A (en) | 2019-01-15 | 2019-01-15 | A kind of universal vehicle-mounted laser rust remover of intelligence |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910047016.0A CN109590614A (en) | 2019-01-15 | 2019-01-15 | A kind of universal vehicle-mounted laser rust remover of intelligence |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109590614A true CN109590614A (en) | 2019-04-09 |
Family
ID=65966176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910047016.0A Pending CN109590614A (en) | 2019-01-15 | 2019-01-15 | A kind of universal vehicle-mounted laser rust remover of intelligence |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109590614A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653491A (en) * | 2019-10-15 | 2020-01-07 | 大族激光科技产业集团股份有限公司 | Laser processing apparatus and method |
| CN111348157A (en) * | 2020-04-15 | 2020-06-30 | 圣同智能机械设备（上海）有限公司 | Wall-climbing type laser cleaning vehicle |
| CN116174410A (en) * | 2023-05-04 | 2023-05-30 | 烟台恩邦智能科技有限公司 | Laser cleaning machine |
-
2019
- 2019-01-15 CN CN201910047016.0A patent/CN109590614A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110653491A (en) * | 2019-10-15 | 2020-01-07 | 大族激光科技产业集团股份有限公司 | Laser processing apparatus and method |
| CN111348157A (en) * | 2020-04-15 | 2020-06-30 | 圣同智能机械设备（上海）有限公司 | Wall-climbing type laser cleaning vehicle |
| CN116174410A (en) * | 2023-05-04 | 2023-05-30 | 烟台恩邦智能科技有限公司 | Laser cleaning machine |
| CN116174410B (en) * | 2023-05-04 | 2023-07-14 | 烟台恩邦智能科技有限公司 | Laser cleaning machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190409 |
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| WD01 | Invention patent application deemed withdrawn after publication |