CN110976431A - Laser cleaning device - Google Patents
Laser cleaning device Download PDFInfo
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- CN110976431A CN110976431A CN201911191387.2A CN201911191387A CN110976431A CN 110976431 A CN110976431 A CN 110976431A CN 201911191387 A CN201911191387 A CN 201911191387A CN 110976431 A CN110976431 A CN 110976431A
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- laser
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- 238000004140 cleaning Methods 0.000 title claims abstract description 44
- 238000001816 cooling Methods 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000011109 contamination Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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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)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a laser cleaning device, comprising: a work table; the tool is a three-degree-of-freedom tool, and rotating axes with three degrees of freedom are mutually vertical; the laser device comprises a laser device, a light guide arm of the laser device is arranged on one side of a workbench, and an emergent lens on the light guide arm is positioned above a tool; the driving assembly is used for driving the tool; the output of the controller is connected with the driving assembly; wherein, the emergent lens is provided with a lens positioned on the emergent lens. The laser cleaning device provided by the invention has stronger adaptability to the surface shape of the workpiece.
Description
Technical Field
The invention relates to a laser cleaning device.
Background
Laser cleaning is now in the 60's of the 20 th century, but it has not matured until the 90's of the 20 th century and is soon applied to specific industries, and currently, laser cleaning technology has become a very mature technology.
Different from mechanical cleaning and chemical cleaning, laser cleaning has the characteristics of no grinding, no contact and no thermal effect, is suitable for cleaning almost all material objects, and particularly has extremely high laser cleaning precision and higher position in the cleaning field.
The principle of laser cleaning is that a light beam emitted by a laser irradiates the surface of a workpiece to be processed, a pollution layer on the surface of the workpiece absorbs laser energy to generate rapid expansion, plasma is generated, and the pollution layer is damaged by shock waves formed by the plasma. The adaptive laser is a pulse laser, so that the damage to the surface of the workpiece due to heat accumulation can be effectively avoided. It will be appreciated that prior to laser cleaning, an analysis of the workpiece type and contamination is required to determine two energy density thresholds, one of which is a threshold above which the laser pulse energy density should be above to enable the contamination layer to be cleaned; another threshold for energy density is the upper threshold, and accordingly, the laser pulse energy density should not be higher than this upper threshold, so as to avoid damage to the workpiece surface. The determination of the two energy density thresholds is a conventional technical means in the field, and is common knowledge in the field under the condition that the laser cleaning process is already mature, and will not be described in detail herein.
It is further noted that, for a relatively flat workpiece surface, the energy density acting on the workpiece surface is relatively easy to control between the lower threshold and the upper threshold under the condition that the energy density of the laser emitted by the laser head is determined. When the surface of the workpiece is not flat or the surface structure is complicated, the energy density applied to the surface of the workpiece may be exceeded due to the influence of the incident angle.
Typically, for example, chinese patent document CN109719088A discloses a laser cleaning device having two optical paths, wherein one optical path is a pulse laser, the other optical path is a continuous laser, and the two optical paths are combined into an outgoing laser by a beam combining mirror. Wherein, the continuous laser can preheat the surface of the workpiece, and the pulse laser can generate the cleaning effect. The laser cleaning device is a laser cleaning device which improves the cleaning efficiency through preheating in principle, but on one hand, the beam combination mode does not fundamentally change the determinacy problem of the angle between the emergent light and the surface of the workpiece; on the other hand, the principle of laser cleaning is to utilize the plasma explosion effect, and in principle, the surface temperature of a workpiece is low, the probability of explosion is higher, and whether the workpiece can generate a better effect or not in a continuous laser preheating mode is to be verified.
Chinese patent document CN108325946A discloses a laser cleaning device, which includes a tool for positioning a workpiece, the tool is an overturning tool, that is, the tool is mounted on a support frame through a rotating shaft, and under the condition that the laser outgoing angle of the laser is determined, the laser outgoing angle and the surface of the workpiece can keep a proper incident angle by adjusting the rotating angle of the overturning tool. Because the turnover tool only has one degree of freedom, the laser incident angle on the surface of the workpiece can be adjusted only in one direction, the surface of the workpiece is difficult to adapt to the single degree of freedom, and even a simple ball shape also belongs to a shape which can be adapted only by at least three degrees of freedom, so that the simple turnover tool still cannot adapt to the actual situation that the workpiece shows a great variety of shapes.
Disclosure of Invention
The invention aims to provide a laser cleaning device with higher adaptability to the surface shape of a workpiece.
An embodiment of the present invention provides a laser cleaning apparatus, including:
a work table;
the tool is a three-degree-of-freedom tool, and rotating axes with three degrees of freedom are mutually vertical;
the laser device comprises a laser device, a light guide arm of the laser device is arranged on one side of a workbench, and an emergent lens on the light guide arm is positioned above a tool;
the driving assembly is used for driving the tool; and
the output of the controller is connected with the driving assembly;
the exit lens is provided with an exit lens positioned in the center of the exit lens and a receiving lens arranged around the exit lens, reflected light reflected from a workpiece to be cleaned is received by a detector through the receiving lens, and the output of the detector is connected to the controller so as to determine the deflection angle of the reflected light.
Optionally, the exit lens is provided with a focal length adjusting cylindrical cam mechanism;
providing a first servo motor for driving the cylindrical cam mechanism;
the controller output is connected with the first servo motor to adjust the focal length according to the distance sampled by the detector.
Optionally, providing a support shaft mounted on the table by a pivoting support, the support shaft providing a first degree of freedom of the tool and being driven by a second servo motor included in the drive assembly;
the tool is arranged on the supporting shaft through a universal joint or a first shaft and a second shaft; so as to provide a second degree of freedom and a third degree of freedom of the tool, and is driven by a third servo motor and a fourth servo motor contained in the driving assembly.
Optionally, the part of the exit lens for mounting the exit lens is a lower end of a nose cone;
the receiving lens is disposed around the base of the nose cone.
Optionally, the taper of the nose cone is 1: 1-1: 3.
Optionally, an instrument chamber is constructed under the workbench, and the body of the laser is located in the instrument chamber;
the instrument cabin wall is provided with a grid and a cooling fan.
Optionally, the laser is Nd: YAG laser emitting laser with wavelength of 1064 nm.
Optionally, the diameter of a light spot vertically projected on the workpiece by the emergent laser is 0.5-2 mm.
In the embodiment of the invention, the tool matched with the laser cleaning device is a three-degree-of-freedom tool, the structural part equivalent to the tool body is a three-degree-of-freedom mechanical arm, all three degrees of freedom are rotational degrees of freedom, and the rotating axes of the three degrees of freedom are mutually vertical, which is equivalent to the further extension of Chinese patent document CN108325946A, so that the comprehensive cleaning of the upper surface of the workpiece is realized. Furthermore, the upper surface of the workpiece can be effectively cleaned in cooperation with the movement of the laser emitted by the laser in the horizontal plane.
Drawings
Fig. 1 is a schematic diagram of a laser cleaning apparatus according to an embodiment.
Fig. 2 is a schematic structural diagram of a laser head.
Fig. 3 is a laser emergent light path diagram.
Fig. 4 is a corrected optical path diagram.
FIG. 5 is a schematic diagram of cleaning a workpiece with an uneven surface.
In the figure: 1. the device comprises a grating, 2, a case, 3, a fan opening, 4, a light guide arm, 5, a tool, 6, a laser head, 7, a workbench, 8, a support shaft, 9, a control panel, 10, a total reflection mirror, 11, a working medium, 12, a half reflection mirror, 13, a vibrating mirror, 14, a workpiece to be cleaned, 15, an array detector, 16, a processor and 17, and a tool driving assembly.
61. An exit lens, 62 a nose cone, 63 a receiving mirror, 64 a mounting plate.
Detailed Description
Chinese patent document CN108325946A focuses on introducing a degree of freedom in the tool, and its adaptability is relatively poor. In an embodiment of the invention, three rotational degrees of freedom are introduced.
It will be appreciated that for laser cleaning apparatus, the laser head 6 typically has the capability of movement in both the transverse and longitudinal dimensions in a horizontal plane, while part of the laser head 6 also has the capability of movement in a vertical direction. However, the laser head 6 has difficulty in achieving 5-axis or more motion capability, and usually less than or equal to three degrees of freedom, or three axes, is required for the laser head 6.
In contrast, in the embodiment of the present invention, three axes are provided for the tool 5, and the cleaning of the workpiece 14 to be cleaned with a complicated surface shape can be achieved by combining two or three axes of the laser head 6.
In the embodiment of the invention, the part of the light guide arm 4 of the used laser, on which the laser head 6 is mounted, can be driven by a two-degree-of-freedom platform, and in some embodiments, a three-degree-of-freedom platform can be used for driving.
In some embodiments, for example, longitudinal rails are provided on the table 7 shown in fig. 1, and the laser heads 6 are mounted on the longitudinal rails by means of a gantry, providing longitudinal freedom of movement.
Furthermore, a transverse track is arranged on the gantry, and the laser head is arranged on the transverse track through a slide block to provide transverse freedom.
In some embodiments, the laser head may also be mounted on the slide via a vertical slide on which vertical rails are mounted, thereby providing a vertical degree of freedom.
In the foregoing embodiment, two or three degrees of freedom of the laser head 6 can be achieved by driving with a servo motor, a generally used driving mechanism is a nut screw mechanism, a nut is mounted on a corresponding slide block, and the servo motor drives the nut screw mechanism to achieve precise driving.
Regarding the dragging of the laser head 6, it is a conventional structure in the art, and it is not described herein, and it is noted that the laser head 6 has two or three degrees of freedom.
For the tool 5, three rotational degrees of freedom are provided, so that the workpiece 14 to be cleaned positioned on the tool 5 can be adapted to the surface shape thereof to change three axes without causing the power density of the laser irradiated on the workpiece 14 to be cleaned to be out of tolerance.
As mentioned above, for the worktable 7, since the positioning and clamping of the workpiece 14 to be cleaned is realized by the tool 5, the requirement on the shape of the worktable 7 is not high, a T-shaped groove worktable with a central hole is generally adopted, and two opposite sides of the worktable 7 are provided with linear tracks to provide the aforementioned degree of freedom of the laser head 6.
It can be understood that, compared with other cleaning methods, laser cleaning has relatively low requirements on workpiece clamping reliability, and can adopt a rapid clamping method, for example, an electromagnet tool can be adopted for a magnetic workpiece. For the non-magnetic material, the shape of the workpiece is adapted, and the tool is determined, which is common general knowledge in the field of machinery and is not described herein again.
In fig. 1, the body of the laser is installed in the case 2 below the table 7, the optical path is led out by the light guide arm 4, and the part for leading out the laser in the light guide arm adopts an optical fiber to adapt to the movement of the laser head 6.
In some embodiments, the laser may be mounted directly on, for example, the aforementioned gantry, and the extraction structure of the optical path is relatively less complex.
Generally, the workpiece 14 to be cleaned is positioned and clamped on the tool 5, and the laser head 6 faces the workpiece 5 to be cleaned from top to bottom.
In the embodiment of the present invention, the driving part mainly includes two parts, the first part is a part for driving the laser head 6, which is the aforementioned two or three moving pairs and the driving device thereof, the second part is a part for driving the tool to move in three degrees of freedom, the first part is a conventional structure in the art, and the second part is a part for adapting to the three-degree-of-freedom tool, which has been mentioned in the foregoing.
In fig. 1, the supporting shaft 8 is mounted on the worktable 7 through a rotary support, the supporting shaft 8 is driven by a second servo motor, and a pair of rotating shafts can be arranged at the upper end of the supporting shaft 8, wherein the axis of the first rotating shaft is vertical to the axis of the supporting shaft 8, and the axis of the second rotating shaft is vertical to the supporting shaft 8 and the first rotating shaft. Further, a swivel mount is provided, the swivel mount is mounted on the support shaft 8 through a first rotating shaft, and the tool 5 is mounted on the swivel mount through a second rotating shaft.
Furthermore, the rotary seat is driven by a third servo motor, and the tool 5 is driven by a fourth servo motor.
In an embodiment of the present invention, a controller is provided for controlling the aforementioned respective servo motors to clean the workpiece 14 to be cleaned.
It will be appreciated that the workpiece surface will typically have a regular profile and therefore, for cleaning of the workpiece, a cleaning procedure can be preset, similar to the laser forming procedure of the workpiece surface, whereby a person skilled in the art will readily realize this. In the configuration shown in fig. 1, a control panel 9 is also provided, which can be used as an input panel for a machining program.
In the embodiment of the present invention, a processing control manner similar to a closed loop is adopted, specifically referring to fig. 2 and 5 in the specification, in which an exit lens 61 is disposed on an exit lens of a laser head 6, and a circle of receiving lenses 63 is disposed around the exit lens 61, and a detector is disposed in the receiving lenses 63, such as a detector array shown in fig. 4, and the detector may be a photosensitive element array, such as a photodiode. Thus, the reflected light reflected from the workpiece 14 to be cleaned is received by the detector via the receiving lens 63, the detector output being connected to the controller to determine the skew angle of the reflected light. The principle can be seen in the optical path diagram shown in fig. 5, when the deflection angle (i.e. the reflection angle) of the reflected light is small, the energy density of the light spot is usually not caused to exceed the threshold set by cleaning, and when the deflection angle is relatively large, the reflected light enters the receiving lens 63, and the fixture is turned over, so that the deflection angle of the reflected light is zero.
Correspondingly, the setting position of the receiving lens 63 determines the maximum deflection angle of the reflected light, and is easily determined according to the set threshold, in other words, when the reflected light deflects, the area of the light spot projected onto the workpiece 14 to be cleaned becomes large, which results in the energy density of the light spot becoming small, and the mounting position of the receiving lens 63 is easily determined according to the threshold.
In the structure shown in fig. 2 and 5, the portion of the exit lens for mounting the exit lens 61 is a lower end of a nose cone 62; the nose cone 62 is a cone with a large top and a small bottom.
Accordingly, the receiving lens 63 is disposed around the bottom of the nose cone 62.
The taper of the nose cone 62 determines the minimum deflection angle at which the reflected light is sampled, and further, the taper of the nose cone 62 is 1:1 to 1: 3.
The laser shown in fig. 3 is Nd: YAG laser, its emergent laser wavelength is 1064nm, belongs to near-infrared laser (invisible light laser), and the thermal effect is higher.
Fig. 3 shows the general principle of a laser, in which the total reflection mirror 10, the half reflection mirror 12 and the working medium 11 form a laser resonator, and the basic principle of the laser is common knowledge in the field of lasers, and will not be described herein.
In some embodiments, the diameter of a light spot vertically projected on the workpiece by the emergent laser is controlled to be 0.5-2 mm, and the feed is easy to control.
In the configuration shown in fig. 1, an instrument chamber, i.e. the cabinet 2 shown in the figure, is constructed under the working table 7, and the body of the laser is located in the instrument chamber;
the cabin wall of the instrument cabin is provided with a grille 1 and a cooling fan arranged at a fan opening 3 shown in the figure.
Claims (8)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191387.2A CN110976431B (en) | 2019-11-28 | 2019-11-28 | Laser cleaning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191387.2A CN110976431B (en) | 2019-11-28 | 2019-11-28 | Laser cleaning device |
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| CN110976431A true CN110976431A (en) | 2020-04-10 |
| CN110976431B CN110976431B (en) | 2024-07-09 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570418A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Compressor impeller blade laser cleaning device and method |
| CN111906094A (en) * | 2020-07-29 | 2020-11-10 | 中国南方电网有限责任公司超高压输电公司柳州局 | Laser cleaning agent rust removal annular joint device |
| CN113289981A (en) * | 2021-04-27 | 2021-08-24 | 金华送变电工程有限公司 | Integrated treatment method for cleaning and greasing wire clamp |
| CN113375557A (en) * | 2021-06-18 | 2021-09-10 | 华中科技大学 | Method for positioning actual processing point by using photosensitive element in laser additive manufacturing |
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| CN101303222A (en) * | 2007-05-09 | 2008-11-12 | 鸿富锦精密工业（深圳）有限公司 | Optical Ruler |
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| CN108325946A (en) * | 2017-12-19 | 2018-07-27 | 苏州凝昕轨道装备有限公司 | Laser cleaner |
| CN211247615U (en) * | 2019-11-28 | 2020-08-14 | 济南大学 | Laser cleaning device |
-
2019
- 2019-11-28 CN CN201911191387.2A patent/CN110976431B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0882677A (en) * | 1994-09-13 | 1996-03-26 | Nippondenso Co Ltd | Reflection measuring apparatus |
| CN101303222A (en) * | 2007-05-09 | 2008-11-12 | 鸿富锦精密工业（深圳）有限公司 | Optical Ruler |
| CN101620189A (en) * | 2008-07-01 | 2010-01-06 | 拓志光机电股份有限公司 | Cassette panel mapping system and method for detecting panel |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111570418A (en) * | 2020-05-29 | 2020-08-25 | 济南大学 | Compressor impeller blade laser cleaning device and method |
| CN111906094A (en) * | 2020-07-29 | 2020-11-10 | 中国南方电网有限责任公司超高压输电公司柳州局 | Laser cleaning agent rust removal annular joint device |
| CN113289981A (en) * | 2021-04-27 | 2021-08-24 | 金华送变电工程有限公司 | Integrated treatment method for cleaning and greasing wire clamp |
| CN113375557A (en) * | 2021-06-18 | 2021-09-10 | 华中科技大学 | Method for positioning actual processing point by using photosensitive element in laser additive manufacturing |
| CN113375557B (en) * | 2021-06-18 | 2022-04-12 | 华中科技大学 | Method for positioning actual processing point by using photosensitive element in laser additive manufacturing |
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| CN110976431B (en) | 2024-07-09 |
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