CN112044874A - A real-time monitoring system and monitoring method for laser cleaning - Google Patents

Abstract

The invention discloses a real-time monitoring system and a monitoring method for laser cleaning, and relates to the technical field of laser cleaning. The cleaning table is provided with a cleaning position and a monitoring position, the workpiece to be cleaned is placed on the cleaning position, and a moving mechanism is provided between the cleaning position and the monitoring position, and one side of the cleaning position and the monitoring position is provided with a useful In the dust-removing and dust-removing mechanism that cleans impurities in real time, the monitoring position is provided with an image acquisition device for collecting and cleaned workpieces, and the image acquisition device is provided with a color-changing auxiliary light source. The auxiliary light sources are connected to the processor. The invention can double monitor the cleaning effect, remove impurities in time, improve the real-time monitoring effect, and has the advantages of improving the laser cleaning effect.

Description

A real-time monitoring system and monitoring method for laser cleaning

technical field

The invention relates to the technical field of laser cleaning, and more particularly, to a real-time monitoring system for laser cleaning and a monitoring method thereof.

Background technique

Laser cleaning is a process in which the surface of the workpiece is irradiated by laser light, so that the pollutants, rust, etc. on the surface absorb the laser energy and undergo changes such as instant peeling or evaporation, and finally are effectively removed from the substrate. It is a green and efficient cleaning method. , gradually accepted by the public in industrial production and life applications. In the prior art, real-time monitoring of laser cleaning is required to ensure the effect of laser cleaning.

For example, the Chinese patent with the authorization announcement number of CN208390571U and the announcement date of 2019.01.18 discloses a real-time monitoring system for laser cleaning, including a laser, a light guide system and a real-time monitoring system; the laser includes a laser power supply and a fiber laser cavity; the light guide The system includes an optical fiber, a handle and a scanning galvanometer; the real-time monitoring system includes a camera and a computer; the scanning galvanometer and the camera are arranged on the handle; the computer is connected with the laser power supply to control the laser The computer is connected with the laser cavity to control the laser to turn on and set the laser power, frequency, scanning speed and scanning times; the laser is connected to the handle through an optical fiber, and the fiber laser cavity emits The light source of the device irradiates the scanning galvanometer through the inside of the handle; the camera is connected with the computer to regularly capture clear pictures and send them to the computer for analysis and processing.

The camera on the handle regularly captures the cleaning image and sends it to the computer, and the computer analyzes the image to judge the cleaning process according to the shape, color and reflectivity of the cleaning surface, and switches the laser power supply on and off according to the cleaning process, and Illumination is provided by the illumination of a white light source when shooting. However, during the cleaning process, it is easy to produce debris floating in the air, which affects the clarity of the picture when shooting, and the irradiation of white light has a strong reflection intensity on the substrate and the attached impurities, which is easy to expose. For the attached impurities of the same color as the substrate It is difficult to distinguish, thus affecting the accuracy of image imaging analysis, resulting in poor monitoring effect and affecting cleaning effect.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, the purpose of the present invention is to provide a real-time monitoring system for laser cleaning, which can double monitor the cleaning effect, remove impurities in time, improve the real-time monitoring effect, and has the advantage of improving the laser cleaning effect.

For achieving the above object, the present invention provides the following technical solutions:

A real-time monitoring system for laser cleaning, comprising a cleaning table and an ultrasonic thickness measuring device arranged on the cleaning table, the ultrasonic thickness measuring device is used to test the thickness value of the workpiece to be cleaned in real time, and the ultrasonic thickness measuring device is connected effectively For the processor that analyzes and processes the measured thickness value, the cleaning table is provided with a cleaning position and a monitoring position, the workpiece to be cleaned is placed on the cleaning position, and the cleaning is located between the monitoring positions. A moving mechanism that drives the workpiece to be cleaned to reciprocate between the cleaning position and the monitoring position. One side of the cleaning position and the monitoring position is provided with an impurity-removing and dust-removing mechanism for cleaning impurities in real time. The image acquisition device of the workpiece is provided with a color-changing auxiliary light source, and both the image acquisition device and the color-changing auxiliary light source are connected to the processor.

Further settings: the ultrasonic thickness measuring device is arranged at the position of the cleaning position close to the monitoring position, the position of the cleaning position for laser cleaning of the workpiece to be cleaned is located on the side of the ultrasonic thickness measuring device away from the monitoring position, and the cleaning position is set There is a lifting mechanism for driving the ultrasonic thickness measuring device to be close to or away from the workpiece to be cleaned. The ultrasonic thickness measuring device is provided with a sensor for monitoring the distance between it and the workpiece to be cleaned. The sensor is connected with a controller. The lifting mechanism is connected and controlled by the controller.

Further setting: the ultrasonic thickness measuring device includes a fixing frame installed on the cleaning table, an ultrasonic thickness measuring host installed on the fixing frame, and an ultrasonic thickness measuring probe connected with the ultrasonic thickness measuring host. The moving path of the cleaned workpiece and the laser cleaning point are on the same straight line. The lifting mechanism includes a cylinder installed on the top of the fixed frame and a fixed seat connected with the cylinder piston rod. The ultrasonic thickness measuring probe and the sensor are installed on the fixed seat. superior.

Further setting: the moving mechanism includes a moving base arranged on the cleaning table and a linear electric cylinder connected to the moving base, the moving base is provided with a gripper and a rotator for driving the gripper to rotate, and the The jaws are used to hold the workpiece to be cleaned.

Further setting: the clamping jaws are set as pneumatic clamping jaws, the rotator is set as a rotating cylinder, and the rotating shaft of the rotating cylinder is connected with the pneumatic clamping jaws.

Further setting: the transition position between the cleaning position and the monitoring position is set as the over-cleaning position, the over-cleaning position is provided with a mounting frame, and when the mounting frame slides, there is a moving frame and a moving frame for driving the moving frame. The moving driving part, the moving frame moves toward or away from the cleaning workpiece, a rotating roller is rotatably arranged on the moving frame, the outer covering of the rotating roller is provided with a dust-removing bristle cover, and the moving frame is provided with a The motor that drives the rotating roller.

Further settings: the rotating roller and the dust-removing bristle sleeve are both set as flexible and deformable parts, and the rotating roller is set as a hollow roller, and the inner wall of the rotating roller is evenly provided with a number of air outlet holes along its axis direction, so One end of the rotating roller is connected with an air blowing pipe through a bearing, and one end of the air blowing pipe away from the rotating roller is connected with an air blower.

Further setting: the impurity removal and dust collection mechanism includes a vacuum cleaner installed on the cleaning table, a vacuum pipe connected to the vacuum cleaner and a plurality of sub-pipes connected to the vacuum pipe, and one end of the plurality of sub-pipes away from the vacuum pipe is installed. There are horn-shaped dust hoppers, and each of the dust hoppers is evenly distributed on the extension line of the cleaning position and the detection position.

By adopting the above-mentioned technical scheme, the present invention has the following advantages compared with the prior art:

1. Monitoring by ultrasonic thickness measurement device and image acquisition device, using thickness change to monitor the cleaning of workpiece can improve the monitoring accuracy, combined with image acquisition device to achieve double monitoring effect, effectively improve the monitoring accuracy of cleaning effect, and facilitate laser cleaning It has the advantage of improving its laser cleaning effect;

2. Through the set up impurity removal and dust collection mechanism, the impurities in the cleaning process can be cleaned in real time, so as to avoid the impurities affecting the laser cleaning, and ensure the testing accuracy of the ultrasonic thickness measurement device and the image acquisition device, and improve the laser cleaning effect;

3. Through the set variable color auxiliary light source, the corresponding color can be adjusted according to the color of the workpiece for lighting, so as to avoid the lighting process from affecting the image shooting and forming effect, ensure the accuracy of the image captured by the image acquisition device, and improve the monitoring accuracy;

4. The fixed seat is pushed by the cylinder, which is convenient to adjust the position of the ultrasonic probe to be suitable for various test scenarios, improve the applicability, and facilitate automatic control and improve the effect of automatic monitoring;

5. Through the cooperation of the clamping jaw and the rotating cylinder, the installation of the workpiece to be cleaned is convenient, and the workpiece can be automatically cleaned by changing the surface, which is convenient for automatic control operation, and improves the effect of laser cleaning and cleaning efficiency;

6. The surface of the workpiece to be cleaned can be accurately cleaned by setting the excessive fine cleaning position to ensure that there is no debris and impurities on the surface of the workpiece when the workpiece enters the monitoring position for image acquisition, improving the accuracy of image acquisition and forming, and improving the monitoring effect;

7. Through the cooperation of the air outlet and the air blowing pipe, the dust removal brush cover can be cleaned of impurities in time, and the debris and impurities on the surface of the workpiece can be blown off during the cleaning process of the dust removal brush cover, so as to facilitate the cleaning and vacuuming mechanism It can adsorb and clean in time to improve the cleaning effect of workpiece impurities, so as to improve the monitoring accuracy, which has the advantage of improving the cleaning effect.

The second object of the present invention is to provide a monitoring method for laser cleaning, which can double monitor the cleaning effect, remove impurities in time, improve the real-time monitoring effect, and has the advantage of improving the laser cleaning effect.

For achieving the above object, the present invention provides the following technical solutions:

A monitoring method for laser cleaning, using the above-mentioned laser cleaning monitoring device, includes the following steps:

S1. Install the workpiece to be cleaned on the moving mechanism, and the moving mechanism drives the workpiece to be cleaned to move as a monitoring position, and in the process of moving, the initial thickness of the workpiece to be cleaned is measured by an ultrasonic thickness measuring device, and collected by an image acquisition device. The initial image information of the workpiece to be cleaned;

S2, the processor records the initial thickness and initial image information of the substrate in the workpiece to be cleaned, and determines the color of the auxiliary light source according to the color of the substrate, so as to avoid the light color of the auxiliary light source being consistent with the color of the substrate;

S3. Control the moving mechanism to drive the workpiece to be cleaned to return to the starting position, and turn on laser cleaning. During the cleaning process, the moving mechanism drives the workpiece to be cleaned to move to the monitoring position, and at the same time, the dust-removing and dust-collecting mechanism is activated for dust-removing processing;

S4. When the workpiece to be cleaned is moved to the ultrasonic thickness measuring device, the thickness value of the workpiece after preliminary cleaning is measured by the ultrasonic thickness measuring device, and fed back to the processor to compare and analyze the cleaning situation of the workpiece with the initial thickness value;

S5. When the workpiece to be cleaned moves to the monitoring position, the image acquisition device collects the image of the workpiece after cleaning, and feeds it back to the processor for comparison and analysis with the initial image information to determine the cleaning situation of the workpiece;

S6; the processor combines the analysis results of steps S4 and S5 to determine the cleaning degree of the workpiece, if not cleaned, repeat step S3, if cleaned, end cleaning.

Further setting: at the end of step S6, the surface of the workpiece that is located in the laser cleaning is changed, so that the laser cleaning operation is started on the next surface of the workpiece.

By adopting the above-mentioned technical scheme, the present invention has the following advantages compared with the prior art:

1. Monitoring through ultrasonic thickness measuring device and image acquisition device, using thickness change to monitor the cleaning of workpiece can improve the accuracy of monitoring, combined with image acquisition device to achieve double monitoring effect, effectively improve the monitoring accuracy of cleaning effect, convenient for laser cleaning machine Adjustment and use has the advantage of improving its laser cleaning effect; at the same time, the cleaning process can be automatically controlled, convenient and fast, and can effectively remove impurities in time, and can be exchanged according to the color required by the workpiece lighting, effectively improving the monitoring accuracy and facilitating laser cleaning. It can be cleaned accurately by the machine, which has the advantage of improving its laser cleaning effect.

Description of drawings

Fig. 1 is the structural representation of the real-time monitoring system of laser cleaning;

FIG. 2 is a schematic cross-sectional view of a part of the structure at the excessive cleaning position;

Fig. 3 is the enlarged schematic diagram of A place in Fig. 2;

FIG. 4 is a schematic diagram of a part of the structure of the cleaning station at the monitoring position for cleaning.

In the figure: 1. Cleaning table; 11. Cleaning position; 12. Monitoring position; 13. Over-cleaning position; 131. Mounting frame; 132. Moving frame; 133. Driving part; 134. Rotating roller; , air blowing pipe; 1343, air blower; 135, dust removal brush cover; 136, motor; 2, ultrasonic thickness measurement device; 21, fixed frame; 22, ultrasonic thickness measurement host; 23, ultrasonic thickness measurement probe; 3, processor ;4, moving mechanism; 41, moving seat; 411, gripper; 412, rotator; 42, linear electric cylinder; 5, cleaning and vacuuming mechanism; 51, vacuum cleaner; 52, suction pipe; 53, branch pipe; 54 6. Image acquisition device; 7. Auxiliary light source; 8. Lifting mechanism; 81. Air cylinder; 82. Fixed seat; 9. Sensor; 10. Controller.

Detailed ways

The real-time monitoring system for laser cleaning will be further described with reference to FIG. 1 to FIG. 4 .

Embodiment 1: A real-time monitoring system for laser cleaning, as shown in Figure 1, includes a cleaning table 1 and an ultrasonic thickness measuring device 2 arranged on the cleaning table 1. The ultrasonic thickness measuring device 2 is used to test the workpiece to be cleaned in real time. Thickness value, the ultrasonic thickness measuring device 2 is connected with a processor 3 for analyzing and processing the measured thickness value, so as to perform real-time thickness detection on the workpiece to be cleaned during the cleaning and reciprocating cleaning process according to the ultrasonic thickness measuring device 2, and feedback Go to the processor 3 for real-time monitoring and processing. Usually, the thickness value of the substrate of the workpiece to be cleaned is set in the processor 3, so that the part larger than the thickness value of the substrate can be determined as a dirt attachment, and the dirt is attached during the laser cleaning process. During the process of removing the objects, the thickness of the workpiece to be cleaned gradually decreases and is close to the thickness of the substrate, which facilitates accurate and real-time monitoring of the laser cleaning effect and facilitates the adjustment of the laser cleaning operation.

As shown in FIG. 1 , a cleaning position 11 and a monitoring position 12 are provided on the cleaning table 1 , and between the cleaning position 11 and the monitoring position 12 is a movement for driving the workpiece to be cleaned to reciprocate between the cleaning position 11 and the monitoring position 12 Mechanism 4, so that the workpiece to be cleaned is placed on the cleaning position 11, the cleaning head pair of the laser cleaning machine is located at the cleaning position 11, the ultrasonic thickness measuring device 2 is set at the cleaning position 11 close to the monitoring position 12, and the cleaning position 11 is to be cleaned. The position of the workpiece for laser cleaning is located on the side of the ultrasonic thickness measuring device 2 away from the monitoring position 12, and the ultrasonic wave is located on the side of the cleaning head for laser cleaning, so as to facilitate real-time monitoring of the thickness of the laser-cleaned part, so as to facilitate movement The mechanism 4 reciprocates to carry out the laser cleaning operation. If the thickness is too small, it will not be sent to the cleaning position 11 for cleaning. If the thickness is too large, it will be sent back and forth to the cleaning position 11 for cleaning. Monitoring accuracy. Further, an image acquisition device 6 for collecting and cleaning the workpiece is provided on the monitoring position 12, so that image acquisition is performed on the workpiece sent into the monitoring position 12, which is convenient to cooperate with the ultrasonic thickness measuring device 2 to grasp the cleaning degree of the workpiece. Double monitoring is adopted. , to ensure the accuracy of monitoring to improve the effect of laser cleaning.

As shown in FIG. 1 , in this embodiment, a color-changing auxiliary light source 7 is provided on the image acquisition device 6 , and both the image acquisition device 6 and the color-changing auxiliary light source 7 are connected to the processor 3 . Specifically, the image acquisition device 6 is set as a camera, the auxiliary light source 7 adopts a color-changing LED light strip to surround the peripheral side of the camera head of the illuminator, and the color change of the LED light is controlled by the processor 3, so as to facilitate the appearance of the workpiece according to the color of the workpiece. Perform toning processing to improve image capture accuracy.

As shown in FIG. 1 and FIG. 2 , an impurity-removing and dust-removing mechanism 5 for cleaning impurities in real time is provided on one side of the cleaning position 11 and the monitoring position 12 , which can clean the impurities in the cleaning process in real time. Further, at the transition position between the cleaning position 11 and the monitoring position 12, a fine-washing excessive position is set, and a mounting frame 131 is fixed on the fine-washing excessive position. The driving member 133 of the moving frame 132 moves. The moving frame 132 moves toward or away from the cleaning workpiece. A rotating roller 134 is rotatably arranged on the moving frame 132. A motor 136 for driving the rotation roller 134 to rotate is provided. During the process of cleaning the workpiece to be cleaned with the moving mechanism 4, on the one hand, impurities are absorbed by the impurity-removing and dust-absorbing mechanism 5, and on the other hand, the workpiece is over-finished. The rotating roller 134 is mobilized to rotate, so that the dust removal bristle cover 135 cleans the workpiece, further ensuring that there is no residual impurities on the surface of the workpiece, thereby facilitating the accurate acquisition of the image acquisition device 6 and improving the monitoring accuracy. Among them, the moving frame 132 and the dust-removing bristle cover 135 can isolate the cleaning position 11, so as to prevent impurities from floating on the monitoring position 12 during the cleaning process to affect the monitoring effect.

As shown in FIG. 2 and FIG. 3 , specifically, the rotating roller 134 and the dust-removing bristle cover 135 are both set as flexible and deformable parts, so as to ensure that the workpiece is not damaged when colliding with the workpiece, and the fit of the dust-removing bristle cover 135 to the workpiece is ensured. Facilitates the effective removal of impurities. Among them, the rotating roller 134 is set as a hollow roller, and several air outlet holes 1341 are evenly arranged on the inner wall of the rotating roller 134 along its axis direction. One end of the rotating roller 134 is connected with a blowing pipe 1342 through a bearing, and the blowing pipe 1342 is far away from the rotating roller. An air blower 1343 is connected to one end of the 134. By blowing air into the rotating roller 134, the air outlet hole 1341 can be used to blow air, so that in the process of rotating and removing impurities, the air blowing can be used to further blow off the impurities on the surface of the workpiece, and can The dust removal brush cover 135 is cleaned in time to ensure that the workpiece can be continuously cleaned during the rolling process, and the blown impurities are sucked away by the impurity removal and vacuum mechanism 5 to achieve the effect of timely impurity removal and ensure that the image acquisition device 6 collects accuracy.

As shown in FIG. 1 and FIG. 2 , the impurity removing and vacuuming mechanism 5 includes a vacuum cleaner 51 installed on the cleaning table 1 , a vacuum cleaner 52 connected to the vacuum cleaner 51 , and a plurality of branch pipes 53 connected to the vacuum cleaner 52 . The end of the branch pipe 53 away from the dust suction pipe 52 is equipped with a horn-shaped dust collector 54, and each dust collector 54 is evenly distributed on the extension line of the cleaning position 11 and the monitoring position 12, so as to ensure the timely vacuuming of the moving path of the workpiece. Impurity removal, on the one hand, prevents impurities from affecting laser cleaning, and on the other hand removes impurities in time to ensure the accuracy of the ultrasonic thickness measurement device 2 and the image acquisition device 6, and to improve the real-time monitoring accuracy, thereby improving the cleaning processing effect.

As shown in FIG. 1 and FIG. 4 , the moving mechanism 4 includes a moving base 41 arranged on the cleaning table 1 and a linear electric cylinder 42 connected to the moving base 41 . The linear electric cylinder 42 is installed on the cleaning table 1 so as to facilitate driving The moving base 41 moves linearly, and the workpiece to be cleaned only needs to be placed on the moving base 41 to move along with the movement of the moving base 41 . Specifically, the movable base 41 is provided with a gripper 411 and a rotator 412 for driving the gripper 411 to rotate. The gripper 411 is used to clamp the workpiece to be cleaned, and the rotator 412 is installed on the movable base 41 and its rotating shaft is connected to the The clamping jaws 411 are connected, so that the workpiece to be cleaned can be fixed by the clamping jaws 411. After the workpiece to be cleaned is cleaned on one side, the rotation of the clamping jaws 411 is controlled by the rotator 412, and the workpiece to be cleaned can be automatically switched to the cleaning surface of the laser cleaning head. ,Convenient. Specifically, the gripper 411 is set as a pneumatic gripper 411, the rotator 412 is set as a rotary cylinder 81, and the rotating shaft of the rotary cylinder 81 is connected with the pneumatic gripper 411, so that both are driven by pneumatic means, which facilitates control management and improves automatic control. Effect.

As shown in Figures 1 and 4, the cleaning position 11 is provided with a lifting mechanism 8 for driving the ultrasonic thickness measuring device 2 to be close to or away from the workpiece to be cleaned. The sensor 9 with the size of the distance, the sensor 9 is connected with the controller 10, the lifting mechanism 8 is connected and controlled by the controller 10, so as to control the position of the ultrasonic thickness measuring device 2 and realize automatic control. Specifically, the ultrasonic thickness measurement device 2 includes a fixed frame 21 installed on the cleaning table 1, an ultrasonic thickness measurement host 22 installed on the fixed frame 21, and an ultrasonic thickness measurement probe 23 connected to the ultrasonic thickness measurement host 22. Ultrasonic thickness measurement The probe 23, the moving path of the workpiece to be cleaned and the laser cleaning point are all on the same straight line. By controlling the ultrasonic thickness measuring probe 23 to approach and contact the workpiece to be cleaned, the thickness measurement test can be performed on it, which is convenient for monitoring its cleaning effect. The lifting mechanism 8 includes a cylinder 81 installed on the top of the fixed frame 21 and a fixed base 82 connected with the piston rod of the cylinder 81. The ultrasonic thickness measuring probe 23 and the sensor 9 are both installed on the fixed base 82, and the fixed base 82 is pushed up and down by the cylinder 81. The ultrasonic thickness measuring probe 23 can be driven to move, which is convenient and quick.

Working principle: When in use, place the workpiece to be cleaned on the clamping jaw 411 and fix it with the clamping jaw 411, and then control the rotator 412 to align the surface of the workpiece to be cleaned with the laser cleaning head, so that it can perform laser cleaning operations. . When cleaning, the workpiece to be cleaned is carried out in sections. After cleaning a certain section of the surface, the moving mechanism 4 is used to drive the workpiece to be cleaned to move, and the next position can be switched for cleaning. In the cleaning process, the cleaning and dust removal mechanism 5 is activated in real time. Remove impurities, avoid impurities affecting laser cleaning, and at the same time ensure the accuracy of data collection by the ultrasonic thickness measurement device 2 and the image acquisition device 6 . Then, a thickness measurement test is performed on the cleaned part by the ultrasonic thickness measurement device 2 , and the thickness value is fed back to the processor 3 for analysis. After that, it continues to move, so that the cleaned workpiece is cleaned by the over-cleaning position to remove finer surface impurities, so as to enter the monitoring position 12, and the image acquisition device 6 is used for accurate shooting, and the color of the auxiliary light source 7 is adjusted during the shooting process to make it The surface color suitable for cleaning the workpiece provides a light source to ensure the clarity of the shooting image. Then, the image is analyzed and processed by the processor 3 to obtain its cleaning effect, and according to the cleaning effect, the moving mechanism 4 is controlled whether to drive the cleaning workpiece to reset for secondary accurate cleaning, and if secondary cleaning is required, the cleaning point is controlled. The cooperation of the rotator 412 and the moving mechanism 4 precisely adjusts the position of the cleaning workpiece on the laser cleaning head, which facilitates automatic and precise cleaning and ensures the cleaning effect. Through the above solution, the present invention can double monitor the cleaning effect, remove impurities in time, improve the real-time monitoring effect, and have the advantage of improving the laser cleaning effect.

Embodiment 2: This embodiment provides a monitoring method for laser cleaning, using the laser cleaning monitoring device in Embodiment 1, including the following steps:

S1, the workpiece to be cleaned is installed on the moving mechanism 4, the workpiece to be cleaned is driven by the moving mechanism 4 to move as the monitoring position 12, and the initial thickness of the workpiece to be cleaned is measured by the ultrasonic thickness measuring device 2 during the movement, and by The image acquisition device 6 collects the initial image information of the workpiece to be cleaned;

S2, the initial thickness and initial image information of the base material in the workpiece to be cleaned are recorded in the processor 3, and the color of the auxiliary light source 7 is determined according to the color of the base material, so as to avoid that the light color of the auxiliary light source 7 is consistent with the color of the base material;

S3. Control the moving mechanism 4 to drive the workpiece to be cleaned to reset to the starting position, and turn on laser cleaning. During the cleaning process, the moving mechanism 4 drives the workpiece to be cleaned to move to the monitoring position 12, and at the same time, the impurity-removing and dust-collecting mechanism 5 is activated to collect and remove impurities. And the cleaning of the workpiece to be cleaned is carried out in sections, the moving mechanism 4 does not move during the laser cleaning, and the moving mechanism 4 drives the workpiece to be cleaned to move after the subsection cleaning is completed;

S4. When the workpiece to be cleaned is moved to the ultrasonic thickness measuring device 2, the thickness value of the workpiece after preliminary cleaning is measured by the ultrasonic thickness measuring device 2, and fed back to the processor 3 to compare and analyze the cleaning situation of the workpiece with the initial thickness value. And further clean the surface of the workpiece through the fine cleaning excessive position;

S5, when the workpiece to be cleaned is moved to the monitoring position 12, the image of the workpiece after cleaning is collected by the image acquisition device 6, and fed back to the processor 3 for comparison and analysis with the initial image information to determine the cleaning situation of the workpiece;

S6; the processor 3 determines the degree of cleaning of the workpiece by combining the analysis results of steps S4 and S5, and repeats step S3 if it is not cleaned, and ends the cleaning if it is cleaned.

Further, at the end of step S6, the workpiece is changed to the surface located in the laser cleaning, so that the laser cleaning operation is started on the next surface of the workpiece, and the surface changing and movement of the workpiece are connected and controlled by the controller 10, only It is necessary to set the execution program on the controller 10 to perform automatic operation, which is convenient and quick, and improves the cleaning efficiency.

Through the above scheme, the present invention can double monitor the cleaning effect, remove impurities in time, thoroughly clean the impurities, improve the real-time monitoring effect, and has the advantage of improving the laser cleaning effect.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions under the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims (10)

1. a real-time monitoring system of laser cleaning, is characterized in that, comprises cleaning table (1) and the ultrasonic thickness measuring device (2) that is arranged on cleaning table (1), described ultrasonic thickness measuring device (2) is used for The thickness value of the workpiece to be cleaned is tested in real time, and the ultrasonic thickness measuring device (2) is connected with a processor (3) for analyzing and processing the measured thickness value, and a cleaning position is provided on the cleaning table (1). (11) and a monitoring position (12), where the workpiece to be cleaned is placed on the cleaning position (11), and between the cleaning position (11) and the monitoring position (12) is arranged a device for driving the workpiece to be cleaned during cleaning A moving mechanism (4) for reciprocating movement between the position (11) and the monitoring position (12), the cleaning position (11) and the monitoring position (12) are provided with an impurity-removing and dust-removing mechanism (5) for real-time cleaning of impurities , the monitoring position (12) is provided with an image acquisition device (6) for collecting and cleaned workpieces, and the image acquisition device (6) is provided with a color-changing auxiliary light source (7), and the image acquisition device ( 6) Both the auxiliary light source (7) with variable color are connected to the processor (3). 2. The real-time monitoring system for laser cleaning according to claim 1, wherein the ultrasonic thickness measuring device (2) is arranged at a position where the cleaning position (11) is close to the monitoring position (12), and the cleaning The position (11) where the workpiece to be cleaned is laser cleaned is located on the side of the ultrasonic thickness measuring device (2) away from the monitoring position (12), and the cleaning position (11) is provided with a drive for driving the ultrasonic thickness measuring device (2). A lifting mechanism (8) close to or away from the workpiece to be cleaned, the ultrasonic thickness measuring device (2) is provided with a sensor (9) for monitoring the distance between it and the workpiece to be cleaned, and the sensor (9) is connected with a A controller (10), the lifting mechanism (8) is connected and controlled by the controller (10). 3. A real-time monitoring system for laser cleaning according to claim 2, wherein the ultrasonic thickness measuring device (2) comprises a fixing frame (21) installed on the cleaning table (1), a fixing frame (21) installed on a fixed The ultrasonic thickness measuring host (22) on the rack (21) and the ultrasonic thickness measuring probe (23) connected with the ultrasonic thickness measuring host (22), the ultrasonic thickness measuring probe (23), the moving path of the workpiece to be cleaned and the laser The cleaning points are all on the same straight line, and the lifting mechanism (8) includes a cylinder (81) mounted on the top of the fixing frame (21) and a fixing seat (82) connected with the piston rod of the cylinder (81). The ultrasonic thickness measurement The probe (23) and the sensor (9) are both mounted on the fixing base (82). 4. A real-time monitoring system for laser cleaning according to claim 1, characterized in that, the moving mechanism (4) comprises a moving seat (41) arranged on the cleaning table (1), and a moving seat (41) arranged on the cleaning table (1). 41) A connected linear electric cylinder (42), the moving base (41) is provided with a gripper (411) and a rotator (412) for driving the gripper (411) to rotate, and the gripper (411) ) is used to clamp the workpiece to be cleaned. 5. A real-time monitoring system for laser cleaning according to claim 4, wherein the gripper (411) is configured as a pneumatic gripper (411), and the rotator (412) is configured as a rotary cylinder (411). 81), the rotating shaft of the rotating cylinder (81) is connected with the pneumatic gripper (411). 6. A kind of real-time monitoring system of laser cleaning according to claim 1, is characterized in that, the position where described cleaning position (11) and monitoring position (12) transition is set as fine cleaning excessive position, described fine cleaning A mounting frame (131) is provided on the transition position, and a moving frame (132) and a driving member (133) for driving the moving frame (132) to move are provided when the mounting frame (131) slides. 132) Move toward or away from the cleaning workpiece, a rotating roller (134) is rotatably arranged on the moving frame (132), and a dust-removing bristle cover (135) is provided on the outer casing of the rotating roller (134), and the moving frame (132) is The frame (132) is provided with a motor (136) for driving the rotating roller (134) to rotate. 7 . The real-time monitoring system for laser cleaning according to claim 6 , wherein the rotating roller ( 134 ) and the dust removal bristle cover ( 135 ) are both set as flexible deformable parts, and the rotating roller ( 134) is set as a hollow roller, and the inner wall of the rotating roller (134) is evenly provided with several air outlet holes (1341) along its axis direction, and one end of the rotating roller (134) is connected with a blowing pipe (1342) through a bearing ), an air blower (1343) is connected to one end of the air blowing pipe (1342) away from the rotating roller (134). 8. A real-time monitoring system for laser cleaning according to claim 1, characterized in that, the impurity removing and vacuuming mechanism (5) comprises a vacuum cleaner (51) installed on the cleaning table (1), and a vacuum cleaner (51). 51) The connected suction pipe (52) and a plurality of branch pipes (53) connected with the suction pipe (52), and one end of the plurality of branch pipes (53) away from the suction pipe (52) is installed with a trumpet-shaped Dust hoppers (54), each of the dust hoppers (54) is evenly distributed on the extension line between the cleaning position (11) and the detection position. 9. A monitoring method for laser cleaning, characterized in that, applying the laser cleaning monitoring device described in any one of claims 1-8, comprising the steps of: S1. Install the workpiece to be cleaned on the moving mechanism (4), and the moving mechanism (4) drives the workpiece to be cleaned to move as the monitoring position (12), and during the moving process, the ultrasonic thickness measuring device (2) measures the workpiece to be cleaned. The initial thickness of the cleaned workpiece, and the initial image information of the workpiece to be cleaned is collected by the image acquisition device (6); S2. The initial thickness and initial image information of the substrate in the workpiece to be cleaned are recorded in the processor (3), and the color of the auxiliary light source (7) is determined according to the color of the substrate, so as to avoid the light color of the auxiliary light source (7) being different from the color of the auxiliary light source (7). The color of the substrate is the same; S3. Control the moving mechanism (4) to drive the workpiece to be cleaned to return to the starting position, and turn on the laser cleaning. During the cleaning process, the moving mechanism (4) drives the workpiece to be cleaned to move to the monitoring position (12), and simultaneously activates the impurity-removing and dust-collecting mechanism ( 5) Vacuuming and removing impurities; S4. When the workpiece to be cleaned is moved to the ultrasonic thickness measuring device (2), the thickness value of the workpiece after preliminary cleaning is measured by the ultrasonic thickness measuring device (2), and fed back to the processor (3) to be compared with the initial thickness value. Comparative analysis of workpiece cleaning; S5, when the workpiece to be cleaned is moved to the monitoring position (12), the image of the workpiece after cleaning is collected by the image acquisition device (6), and fed back to the processor (3) for comparison and analysis with the initial image information to determine the cleaning situation of the workpiece; S6; the processor (3) combines the analysis results of steps S4 and S5 to determine the cleaning degree of the workpiece, if not cleaned, repeat step S3, if cleaned, end cleaning. 10 . The monitoring method for laser cleaning according to claim 9 , wherein, when step S6 ends, the workpiece is changed to the surface located in the laser cleaning, so that the laser cleaning operation is started on the next surface of the workpiece. 11 .

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